Submersible remote operated vehicle tool change control

A system comprising a processor and memory with instruction stored on the memory operable to cause the system to perform operations comprising:

• receive data from a force sensor of an arm a submersible remote operated vehicle (ROV);
• automatically determine a nominal path to a target;
• and
• automatically control, based on the data, movement of the arm in docking the arm to the target based on a first force threshold and the nominal path.

A submersible remote operated vehicle (ROV) system, comprising:

• a submersible ROV with a manipulator arm for carrying a tool;
• a tool holder for storing the tool;
• and
• a control system configured to:
• receive data from a force sensor of an arm a submersible remote operated vehicle (ROV);
• automatically determine a nominal path to a target;
• and
• automatically control, based on the data, movement of the arm in docking the arm to the target based on a force threshold and the nominal path.