Table 1 Physical parameters of the robot.

From: Cluster formation tracking of networked perturbed robotic systems via hierarchical fixed-time neural adaptive approach

Mass (\(\mathrm{{kg}}\))

Length (\(\mathrm{{m}}\))

COM (\(\mathrm{{m}}\))

\({m_i} \!=\! {({m_{i1}},{m_{i2}})^T}\)

\({l_{i1}} = {({l_{i1}},{l_{i2}})^T}\)

\({\chi _{i2}} \!=\! {({\chi _{i1}},{\chi _{i2}})^T}\)

\({m_{i1}} = 1.26 + 0.03i\)

\({l_{i1}} \!=\! 2.68 + 0.04i\)

\({\chi _{i1}} = 1.34 + 0.02i\)

\({m_{i2}} = 1.04 + 0.02i\)

\({l_{i2}} \!=\! 2.44 + 0.02i\)

\({\chi _{i2}} = 1.22 + 0.01i\)

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