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	kgm^2
Link interia		0.0093	kgm^2
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