Passivity-Based Control of Rotational and Translational Timoshenko Arms

Table 1

System parameters.

Parameter	Nomenclature	Values	Unit
Length of the arm	𝐿	1.2	m
Arm cross-sectional area	𝐴	2.5×10^−4	m^2
Volume mass density	𝜌	2.7667	Kg/m^3
Young’s modulus	𝐸	6.8944×10^10	Pa
Internal structural damping	𝐶	0	Kg/sec
Payload moment of inertia	𝐼𝑐	5×10^−4	Kg⋅m^2
Payload mass	𝑚	0.2	Kg
Shear correction factor	𝜅	5/6	–
Shear modulus	𝐺	2.6517×10^10	Pa
Slider mass	𝑀𝑝	0.5	Kg
Hub moment of inertia	𝐼ℎ	0.5	Kg⋅m^2