Table 1: Nominal parameters of the three-link planar manipulator.

Description Value Unit

Joint inertia1.15 𝑒 2 Kg m 2
Joint viscous friction coeff. 0.001 N s m 1
Link mass 0.541 kg
Link center of mass 0.085 m
Link length 0.3 m
Motors inertia6.6 𝑒 5 kg m 2
Motors viscous friction coeff. 0.00462 N s m 1
Actuators Coulomb friction level 0.1 N m
Joints Coulomb friction level 0.5 N m
𝜆 2 2.2 s 2
𝜆 1 0.4 N 1  m 1
𝜆 0 14.7 N m rad 2