Online Trajectory Tracking Control Based on the Explicit Form of the Equations of Motion for Serial Manipulator Using the New Formulation

Table 4

Parameters of the SCARA manipulator.

Parameter	Value (kg)	Parameter	Value (m)	Parameter	Value (m)	Parameter	Value (kgm^2)
	1.228		0.524		—		—
	1.023		0.2		0.229		0.0058
	1.023		0.2		0.229		0.0058
	1.023		0.2		0.229		0.0058
	0.5114		0.14		-		—