Table 1 Model parameters of the manipulator.
From: Novel sliding mode control of the manipulator based on a nonlinear disturbance observer
Link(\(i\)) | \({l}_{i}/m\) | \({m}_{i}/kg\) | \({I}_{i}/kg \cdot {m}^{2}\) | \({\eta }_{fi}/N\cdot m\) | \({\mu }_{fi}/\cdot m\) |
|---|---|---|---|---|---|
1 | 0.5 | 5 | 5 | 0.5 | 10 |
2 | 1 | 0.5 | 5 | 0.5 | 10 |
3 | 0.8 | 1.5 | 5 | 0.5 | 10 |
