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 \(\theta_{\lim } /(^\circ )\) | \([ - 1 5^{ \circ } ,\; 1 5^{ \circ } ]\) | \([ - 1 5 9. 6^{ \circ } ,\; 1 1. 4^{ \circ } ]\) | \([ - 9 0^{ \circ } ,\; 9 0^{ \circ } ]\) | \([0^{ \circ } ,\; 3 6 0^{ \circ } ]\) |