Abstract
In Chap. 2 the equations of motion of Underwater Vehicle-Manipulator Systems (UVMSs) have been presented. Their expression in matrix form (2.71), is formally close to the equations of motion of ground fixed manipulators for which a wide control literature exists. This has suggested a suitable translation/ implementation of existing control algorithms. However, some differences, crucial from the control aspect, need to be underlined.
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Antonelli, G. 7. Dynamic Control of UVMSs. In: Underwater Robots – 2nd Edition. Springer Tracts in Advanced Robotics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11540199_7
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DOI: https://doi.org/10.1007/11540199_7
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Publisher Name: Springer, Berlin, Heidelberg
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