Impedance with Finite-Time Control Scheme for Robot-Environment Interaction

Table 1

Model parameters of the robot.

Identifier	Length	Distance	Angle ()	Mass	Inertia matrix ()
1	0	0	0	0.1	[0, 0.35, 0, 0, 0, 0]
2	0	1.08	−90	17.4	[0.13, 0.524, 0.539, 0, 0, 0]
3	0.1505	0.0203	90	4.8	[0.066, 0.086, 0.0125, 0, 0, 0]
4	0.645	0	−90	0.82	[1.8e − 3, 1.3e − 3, 1.8e − 3, 0, 0, 0]
5	0	0	0	0.34	[0.3e − 3, 0.4e − 3, 0.3e − 3, 0, 0, 0]
6	0	0	0	0.09	[0.15e − 3, 0.15e − 3, 0.04e − 3, 0, 0, 0]