Encyclopedia of Systems and Control

2015 Edition
| Editors: John Baillieul, Tariq Samad

Mathematical Models of Marine Vehicle-Manipulator Systems

  • Gianluca Antonelli
Reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5058-9_128

Abstract

Marine intervention requires the use of manipulators mounted on support vehicles. Such systems, defined as vehicle-manipulator systems, exhibit specific mathematical properties and require proper control design methodologies. This article briefly discusses the mathematical model within a control perspective as well as sensing and actuation peculiarities.

Keywords

Floating-base manipulators Marine robotics Underwater intervention Underwater robotics 
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Bibliography

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Copyright information

© Springer-Verlag London 2015

Authors and Affiliations

  • Gianluca Antonelli
    • 1
  1. 1.University of Cassino and Southern LazioCassinoItaly