Table 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 |