Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

Table 2

Estimated parameters of the experimental robot arm; see (61) for reference.

Parameter	Definition	Value	Unit
𝜃1	𝑚1𝑙^2𝑐1+𝑚2𝑙^21+𝑙^2𝑐2+𝐼1+𝐼2	0.0363	Kg m^2
𝜃2	𝑚2𝑙1𝑙𝑐2	0.0028	Kg m^2
𝜃3	𝑚2𝑙^2𝑐2+𝐼2	0.0023	Kg m^2
𝜃4	𝑓𝑣1	0.0084	Nm sec
𝜃5	𝑓𝑣1	0.0024	Nm sec