Abstract
In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies moving in a fluid or underwater manipulators has been studied in literature by, among others, [137, 156, 157, 174, 182, 189, 203, 242, 255, 256, 285, 286], where a deeper discussion of specific aspects can be found. In [224], the model of two UVMSs holding the same rigid object is derived.
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Antonelli, G. 2. Modelling of Underwater Robots. In: Underwater Robots – 2nd Edition. Springer Tracts in Advanced Robotics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11540199_2
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DOI: https://doi.org/10.1007/11540199_2
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Publisher Name: Springer, Berlin, Heidelberg
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