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Table 1. Physical parameters of underwater robot

Table 1. Physical parameters of underwater robot

4.1 Comparison of control performance of RAC and computed torque methods

In this subsection, to compare the control performances of the RAC method and a computed torque method that is generally used to control of UVMS, simulations and experiments are done. Note that joint torque control type servo actuators are used in the experiments. Model of vertical type 2-link underwater robot is shown in Figure 5. In this figure Fi (i = 1, 2, 3) is the thrust of thruster and R is a distance from the origin of to the thruster. For the model shown in Figure 5 kinematic, momentum and dynamic Equations (3), (8) and (13) are reduced to

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