An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

Table 2

Values of moment of inertia.

Link	𝐼𝑥 (kgm^2)	𝐼𝑦 (kgm^2)	𝐼𝑧 (kgm^2)
1	0.1528	0.1322	0.0646
2	0.0900	0.0266	0.0794
3	0.0462	0.0337	0.0183
4	0.0307	0.0081	0.0272
5	0.0392	0.0375	0.0081
6	0.0039	0.0008	0.0039
7	0.0001	0.0001	0.0002
8	0.0011	0.0013	0.0008