Mathematical Problems in Engineering / 2013 / Article / Tab 1

Research Article

Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator

Table 1

Manipulator parameters.

SymbolParameterQuantity

Mass of link1 and 212.1 kg, 3.59 kg
Mass of link1 and 2 0.3 m, 0.41 m
Stiction level of joint1 and 20.063 Nm, 0.0648 Nm
Coulomb friction of joint1 and 20.061 Nm sec/rad, 0.06 Nm sec/rad
Stibeck velocity of joint1 and 20.00075 rad/sec, 0.00063 rad/sec
Bristle stiffness of joint1 and 25400 Nm/rad, 8700 Nm/rad
Presliding damping of joint1 and 25.4 Nm sec/rad, 6.2 Nm sec/rad
Sliding damping of joint1 and 210.2 Nm sec/rad, 10.8 Nm sec/rad

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