Research Article
Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System
Table 2
The parameter list of the UVMS.
| | Parameters | Values |
| | Mass of the vehicle () | 39 kg | | Length of the vehicle () | 1.1 m | | Diameter of the vehicle () | 0.25 m | | Moment of inertia of the vehicle | | | | 0.34 kgm2 | | | 3.71 kgm2 | | | 3.71 kgm2 | | Centre of gravity (CG) = (, , ) | (0, 0, 0) m | | Centre of buoyancy (CB) = (, , ) | (0, 0, 0.015) m | | Mass of the underwater manipulator links | | | | 0.3927 kg | | | 1.5708 kg | | | 1.5708 kg | | Underwater manipulator link lengths | | | | 0.05 m | | | 0.20 m | | | 0.20 m | | Underwater manipulator link radii | | | | 0.10 m | | | 0.05 m | | | 0.05 m | | Coefficient of drag () | 1.25 | | Coefficient of lift () | 1.15 |
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