State Estimation and Attack Reconstruction of Picking Robot for a Cyber-Physical System

Table 2

Model parameters of the robot.

Parameter	Description	Value
	Length of waist joint	0.05 m
	Length of big arm	0.65 m
	Length of forearm	0.42 m
	Mass of waist	22.6 kg
	Mass of big arm	7.9 kg
	Mass of forearm	9.8 kg
	Mass of waist joint end parts	5.57 kg
	Mass of shoulder joint end parts	6.38 kg
	Masses of elbow joint end parts	4.29 kg
	Distance from waist joint rotation center to the centroid of waist connecting rod	0.12 m
	Distance from shoulder joint rotation center to the centroid of big arm	0.25 m
	Distance from elbow joint rotation center to the centroid of forearm	0.33 m
	Inertia of waist connecting rod	0.26 kg·m^2
	Inertia of big arm	0.77 kg·m^2
	Inertia of forearm	0.06 kg·m^2