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 |