Table 2:
Parameters of the three-link planar manipulator controller used in the simulations.
Symbol
Case no. 1
Case no. 2, no. 3
𝑤
𝐾
𝑑
diag
{
1
6
,
1
6
}
diag
{
1
0
0
,
1
0
0
}
𝑤
𝐷
𝑑
diag
{
6
,
6
}
diag
{
3
0
,
3
0
}
𝑤
𝑀
𝑑
diag
{
0
.
0
2
,
0
.
0
2
}
diag
{
0
.
0
2
,
0
.
0
2
}
Γ
1
𝑖
90
90
Γ
2
𝑖
2.7
e
3
2.7
e
3
Γ
3
𝑖
10
10