Research Article
An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators
Table 2
Definitions of system variables and parameters for Furuta pendulum system.
| : inertia of the arm ( 0.001569 kg·m2) | | : total length of the arm ( 0.16 m) | | : mass of the arm ( 0.056 kg) | | : mass of the pendulum ( 0.022 kg) | | : distance to the center of gravity of the pendulum ( 0.08 m) | | : inertia of the pendulum around its center of gravity ( kg·m2) | |
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