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.
Rigid Body Rotation Matrix Lift Force Euler Angle Inertial Frame
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