Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

Table 2

Structure parameter values of the 3-DOF master manipulator.

Link 𝑖	𝐼𝑧𝑧 (kgm^2)	𝑚𝑖 (kg)	𝐿𝑐𝑖 (m)	𝐿𝑖 (m)
0	—	—	—	0.09
1	0.05	1.738	0.072	0.144
2	0.05	1.738	0.072	0.144
3	0.12	2.529	0.098	0.241