Research Article
Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator
Table 1
D-H parameters of the 3dof underwater manipulator.
| | Joint axis () | Link offset () | Link length () | Joint distance () | Joint angle () |
| | 1 | 0° | 0 | m | θ 1 | | 2 | 90° | | 0 | θ 2 | | 3 | 0° | | 0 | θ 3 | | 4 | 0° | | 0 | = 0° |
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