Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

Table 1

Physical parameters of the experimental robot arm.

Description	Notation	Units
Length of link 1	𝑙1	m
Length of link 2	𝑙2	m
Distance to the center of mass of link 1	𝑙𝑐1	m
Distance to the center of mass of link 2	𝑙𝑐2	m
Mass of link 1	𝑚1	kg
Mass of link 2	𝑚2	kg
Inertia rel. to center of mass (link 1)	𝐼1	kg-m^2
Inertia rel. to center of mass (link 2)	𝐼2	kg-m^2