Research Article
An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators
Table 1
Definitions of system variables and parameters.
| | : mass of link 1 (0.056 kg) | | | : mass of link 2 (0.022 kg) | | | : length of link 1 (0.16 m) | | | : length of link 2 (0.16 m) | | | : distance to link 1 center of mass (0.08 m) | | | : distance to link 2 center of mass (0.08 m) | | | : inertia of link 1 (0.001569 kg·m2) | | | : inertia of link 2 (0.001785 kg·m2) | | | : displacement of link 1 | | | : angular velocity of link 1 | | | : displacement of link 2 | | | : angular velocity of link 2 | | | : applied torque | |
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