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Table 4 Parameters of the manipulator swing and pitch joints

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

  Weight (N) Buoyancy (N) Inertia (N·m·s2)
\(I_{\text{xx}}\) \(I_{yy}\) \(I_{zz}\) \(I_{xy}\) \(I_{xz}\) \(I_{yz}\)
Link 1 26.4 7.91 0.058 0.066 0.016 0.002 − 0.01 0.016
Link 2 30.5 8.15 0.009 0.013 0.136 0.017 0.001 0
Link 3 30 7.56 0.067 0.005 0.066 0 0 0