Constant Force PID Control for Robotic Manipulator Based on Fuzzy Neural Network Algorithm

Table 1

Variables description of two-link robotic manipulator [39].

Description	Nominal value	Description	Nominal value
Center of mass link 1: (kg)	0.1	Center of mass link 2: (kg)	0.1
Length of link 1: (m)	0.8	Length of link 2: (m)	0.4
Length of center of mass link 1: (m)	0.4	Length of center of mass link 2: (m)	0.2
Centroid inertia of link 1: (kgm^2)	0.064	Centroid inertia of link 2: (kgm^2)	0.016
Joint variable of link 1: (rad)	—	Joint variable of link 2: (rad)	—
Torque of link 1: (Nm)	—	Torque of link 2: (Nm)	—