The REMO I is an underwater vehicle remotely operated (ROV). The main part of the robot is a parallel structure based on the Stewart - Gough platform. It allows to change its geometry to perform maneuvers with great flexibility of navigation and change the orientation and displacement using a single thruster on the back. Therefore, the robot can perform complex trajectories to reach place hidden in the water. This paper presents a brief description of the REMO-I mechanics, its control and instrumentation system. In addition the control architecture developed for the navigation and experimental are detailed. © 2009 CEA.
Álvarez, C., Saltaren, R., Aracil, R., & García, C. (2009). Concepción, desarrollo y avances en el control de navegación de robots submarinos paralelos: El robot Remo-I. RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 6(3), 92–100. https://doi.org/10.1016/S1697-7912(09)70268-7