Experimental Application of Robust and Converse Dynamic Control for Rotary Flexible Joint Manipulator System

Table 1

RFJ system specifications.

Parameters	Nominal value	Perturbed value
(N.m/(rad/s))	0.004	0.0048
(kg m^3)
(kg)	0.064	0.076
(kg)	0.03	0.036
(m)	0.298	0.357
(m)	0.156	0.187