Research Article
Machine Learning-Based Multiagent Control for a Bunch of Flexible Robots
Table 1
Specification of the single-link robot with flexible joint.
| Robot specification | Symbol | Value | Unit |
| Actuator interia (DC engine) | | 0.0037 | kgm2 | Link interia | | 0.0093 | kgm2 | Engine bearing movement friction | B | 0.046 | NmV−1 | Coefficient of torsional spring constant | k | 0.18 | Nmrad−1 | Efficiency amplifier for control | | 0.008 | NmV−1 | Link mass | m | 0.21 | kg | Half-link length | L | 0.3 | m | Engine angular rotation | | State variable | rad | Link angular rotation | | State variable | rad | Engine angular velocity | | State variable | rad·s−1 | Link angular velocity | | State variable | rad·s−1 |
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