简介：Inordertoanalyzethespatialmaneuverabilityoftheremotelyoperatedunderwatervehicle(ROV),the6-DOFmotionmathematicmodeloftheROVwasfounded.HydrodynamicswereanalyzedbyusingtheTaylorseries.ThethrustersontheROVwerediscussed.Thispaperconsidersthreecasesofmotionsimulation:verticalmotion,rotationalmotionandZ-shapemotion.Aseriesofsimulationexperimentsshowedthatthe6-DOFmotionmathematicmodelwascorrectandreliable,andalsofitwiththescenesimulation.
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