Modelling of Underwater Robots

  • Gianluca Antonelli
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 2)


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, [79, 88, 97, 100, 104, 116, 141, 153, 154, 170, 171], where a deeper discussion of specific aspects can be found.


Vortex Torque 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Gianluca Antonelli
    • 1
  1. 1.Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica IndustrialeUniversità degli Studi di CassinoCassino (FR)Italy

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