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Nominal parameters of the FJR manipulator
| Symbol | Description | Value |
|---|---|---|
| Jeq | Equivalent moment of inertia of servo motor (kg ∙ m2) | 0.0018 |
| Jarm | Moment of inertia of the link (kg ∙ m2) | 0.0033 |
| Beq | The viscous friction coefficient of the manipulator (N ∙ m ∙ s /rad) | 0.015 |
| Ks | Joint stiffness (N/m) | 1.3 |
| Km | Motor back-EMF constant N/(rad/s) | 0.0077 |
| Kg | High gear ratio | 70 |
| Kt | Motor torque constant (N ∙ M/A) | 0.00767 |
| Rm | Motor torque constant (Ω) | 2.6 |
| ηm | Motor efficiency | 0.69 |
| ηg | Gearbox efficiency | 0.90 |
Controllers and observer parameters
| Controllers | Design parameters |
|---|---|
| Unactuated controller (virtual controller) | ε1 = 0.01, λ1 = 1, c1 = 16, c2 = 8 |
| Actuated controller | ε2 = 0.01, λ2 = 0.01, c3 = 12, c4 = 7 |
| Observer | Ko = 1000, γo = 100, τo = 0.0001 |