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TableĀ 3 Size parameters of the manipulator

From: Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

Manipulator link i 1 2 3 4
Link length l/mm 0 25 268.5 41
Distance between the links d/mm 0 157 0 281
Angular displacement limits \(\theta_{\lim } /(^\circ )\) \([ - 1 5^{ \circ } ,\; 1 5^{ \circ } ]\) \([ - 1 5 9. 6^{ \circ } ,\; 1 1. 4^{ \circ } ]\) \([ - 9 0^{ \circ } ,\; 9 0^{ \circ } ]\) \([0^{ \circ } ,\; 3 6 0^{ \circ } ]\)