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TableĀ 8 Parameters of the manipulator

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

Length of the upper arm (m) Weight of the upper arm (kg) Diameter of the upper arm (mm) Length of the forearm (m) Weight of the forearm (kg) Diameter of the forearm (mm)
0.366 4.5 54 0.292 4 54