639801.fig.0015a
(a)
639801.fig.0015b
(b)
639801.fig.0015c
(c)
639801.fig.0015d
(d)
Figure 15: |F{q̇2(t)}| of the 3R-robot during 300 cycles versus r and ω/ω0, for ρ={0.1,0.3,0.5,0.7}, ω0=7.0 rad s-1.