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, [79, 88, 97, 100, 104, 116, 141, 153, 154, 170, 171], where a deeper discussion of specific aspects can be found.
“We have Einstein’s space, de Sitter’s spaces, expanding universes, contracting universes, vibrating universes, mysterious universes. In fact the pure mathematician may create universes just by writing down an equation, and indeed, if he is an individualist he can have an universe of his own”.
J.J. Thomson, around 1919.
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© 2003 Springer-Verlag Berlin Heidelberg
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Antonelli, G. (2003). Modelling of Underwater Robots. In: Underwater Robots. Springer Tracts in Advanced Robotics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-14387-2_1
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DOI: https://doi.org/10.1007/978-3-662-14387-2_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-14389-6
Online ISBN: 978-3-662-14387-2
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