Output-Based Control of Robots with Variable Stiffness Actuation

Table 1

Nominal parameters of the three-link planar manipulator.

Description	Value	Unit
Joint inertia	1.15𝑒−2	Kg m2
Joint viscous friction coeff.	0.001	N s m−1
Link mass	0.541	kg
Link center of mass	0.085	m
Link length	0.3	m
Motors inertia	6.6𝑒−5	kg m2
Motors viscous friction coeff.	0.00462	N s m−1
Actuators Coulomb friction level	0.1	N m
Joints Coulomb friction level	0.5	N m
𝜆2	2.2	s^2
𝜆1	0.4	N−1 m−1
𝜆0	14.7	N m rad−2