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Journal of Robotics
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Journal of Robotics
/
2020
/
Article
/
Tab 3
/
Research Article
Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach
Table 3
Parameters of joint 1 and joint 2.
(kgm
2
)
(Nm/Rad)
(Nm/(Rad/s))
1.5
10000
40
1