1 Length of link 1 ( ) 2 Length of link 2 ( ) 3 Length of link 3 ( ) 4 Length of mass center link 1 5 Length of mass center link 2 6 Length

of mass center link 3 7 Mass of link1 8 Mass of link 2 9 Mass of link 3 10 Limit of angles joint 1 11 Limit of angles joint 2 12 Limit of angles joint 3 13 Moment of inertia link 1 ( ) 14 Moment of inertial link 2( 15 Moment of inertial link 3( 2. Parameter of load: 1 Mass of load 2 Moment of inertia mass 3. All parameter of motor: 1 2 3 4 5 6 7 8 9 10 11 12 13 Armature voltage( Armature current( ) Electromagnetic torque ( Load torque( Armature inductance( Armature resistance( Coupling coefficient(K) Moment of inertial motor(J) Damping coefficient( Limit of torque( Torque command) Motor speed Motor current Voltage of motor

300(mm) 200(mm) 194(mm) 189.432(mm) 146.5(mm) 84.127(mm) 1.905(kg) 1.128(kg) 1.52(kg) 0 180 (degrees) -150 150(degrees) -150 150(degrees) (Kg.m^2) ( Kg.m^2) (Kg.m^2)

4 kg ( Kg.m^2) ( V) ( A) (N.m) ( N.m) ( H) ( N.m/A) (kg.m^2) From to ( N.m) ( Rpm) (A) (V)