Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

Table 1

Parameters of the two-link manipulator for simulations.

Link 𝑖	𝑚𝑖(kg)	𝐿𝑖(m)	𝐿𝑐𝑖(m)	𝐽𝑖 (kg·m^2)
𝑖=1	31.20	1.05	0.43	0.41
𝑖=2	22.53	0.78	0.32	0.35