Variable Structure Control and Its Ground Experimental Test for the Space Station Robot

Table 2

Estimated dynamic parameters of the robot.

Parameters	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6
(kg)	10	10	10	10	10	10
(kg·m)	0.000000	1467.621893	120.973665	0.877570	-5.497015	-3.474394
(kg·m)	0.000000	-485.168899	512.922191	-4.105343	49.201786	9.947225
(kg·m)	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000
(kg·m^2)	0.000000	-3105.984543	-429.633816	139.535980	-35.190459	-5.898670
(kg·m^2)	0.000000	-2279.068182	175.632270	-37.783294	-5.612843	4.712513
(kg·m^2)	0.000000	-168.579890	137.144088	1.357674	-25.300536	-3.631684
(kg·m^2)	0.000000	-2153.914022	-14.634628	-0.000770	-0.030217	-0.012071
(kg·m^2)	0.000000	-467.555176	158.191065	-34.563860	-15.506560	-19.074189
(kg·m^2)	1355.845148	-4625.319065	315.581754	123.918230	39.386756	-10.111644
(kg·m^2)	0.000000	0.000000	-1198.010476	81.708986	-14.478101	-27.911115
(Nm·s/rad)	5469.258178	4450.476442	8730.326694	2888.554652	1857.202169	-2029.910574
(Nm·s/rad)	7102.364470	31212.701099	16441.785926	3909.460084	1322.947888	1322.947888