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Coordinated motion control of a 3 link dual arm underwater vehicle manipulator system using resolved acceleration control method

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Figure

Fig. 1 shows the model of a dual-arm UVMS considered in this paper,consisting of the inertial coordinate frameframe ΣI and vehicle coordinate Σ0
Table 1. Physical parameters of underwater robot
Fig. 3. Experimental setup
Fig. 6. Experimental results for case 1: robot base position and attitude
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