Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Table 4

Torque correction amount associated with time t of each joint.

Number	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6
1	2386.993	6350.648	−6500.23	−285.029	243.4248	30.51686
2	963326.4	1605860	−1.2E + 07	−4.9E + 07	−6322412	3456341
3	1490851	1763153	−1.1E + 07	−4.7E + 07	−5900607	3269695
4	1604890	521430.1	−6484790	−4.5E + 07	−5056274	3164968
5	1553503	−1710918	684622.4	−3.9E + 07	−2993026	2884595
6	385449.2	−8416316	14053210	−9698177	2759736	1795244
7	−919109	−1.1E + 07	18790044	6699360	3397692	1746705
8	−1696889	−1.1E + 07	21712862	17946281	2836632	1935051
9	−1469893	−1E + 07	21058280	24486418	2035476	2076084
10	−143465	−8416636	15059756	29383435	1141529	2232086