Research Article
A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line
Table 3
Parameters used in controller simulation.
| Type | Parameter | Value |
| Controller parameters | (in equation (11)) | 5 | (in equations (17)-(21)) | 1.99, 3, 3, and 5 | (in equations (15) and (16)) | 4 | , (in equation (25)) | 3, 1.4 |
| Manipulator weight (kg) | Link 1 and Dynamixel MX106 | 0.45 | Link 2 and Dynamixel MX64 | 0.30 | Link 3, Dynamixel MX64, and actuator | 0.50 |
| Manipulator length (m) | Link 1 | 0.25 | Link 2 | 0.15 | Link 3 | 0.15 | Link 4 | 0.05 |
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