Table 1: Numerical values of system parameters [10].

The ParametersSymbolsValues

The radius of robot base.0.35
Traveling plate radius.0.1
Arm length.0.35
Forearm length.0.8
Traveling plate mass.0.6
The inertia of actuating motor.0.003
Arm inertia.0.071
Forearm Mass.0.3
The maximum allowable torque.90