Grasping objects under water is even today one of the biggest challenges when operating robotic systems let it be tele-operated or autonomous. Currently, most of the manipulation tasks under water are performed using remotely operated vehicles (ROVs) which handle all industrial maintenance and inspection tasks where there is intervention involved. Manipulation on autonomous underwater vehicles (AUVs) is still a research topic as it involves the control of a moving base and the interacting forces in the most challenging configuration. The works and the intended further research presented here focus on the control and signal processing of the end-effector itself during autonomous mobile manipulation.