Skip to main content

Table 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 \(\theta_{\lim } /(^\circ )\)

\([ - 1 5^{ \circ } ,\; 1 5^{ \circ } ]\)

\([ - 1 5 9. 6^{ \circ } ,\; 1 1. 4^{ \circ } ]\)

\([ - 9 0^{ \circ } ,\; 9 0^{ \circ } ]\)

\([0^{ \circ } ,\; 3 6 0^{ \circ } ]\)