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