Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

Table 1

Values of system parameters used in numerical simulation.

Parameters symbol	Link and motors 1 and 2; parameters values
	1.5 kg
	0.3 m
	0.012 kg·m^2
	500 Nm·rad^−1
	0.025 kg·m^2
	0.025 H
	1.6 Ohm
	0.5 Nm·A^−1
	0.001 Nm·s·rad^−1
	1 Nm·A^−1
	0.15 m