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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
/
2015
/
Article
/
Tab 1
/
Research Article
Analysis and Synthesis of Global Nonlinear
Controller for Robot Manipulators
Table 1
Parameter of the mechanical manipulator.
Description
Notation
Value
Units
Length of link 1
0.297
m
Length of link 2
0.297
m
Mass of link 1
0.38
Kg
Mass of link 2
0.34
Kg
Inertial 1
Kgm
2
Inertial 2
Kgm
2
Inertial 3
Kgm
2
Friction coeff. 1
1.6
Nm
Friction coeff. 2
1.08
Nm
Friction coeff. 3
0.81
Nm
Gravity acceleration
9.8
m/s
2