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