Table 1 Parameters of the simulation for case study 1

n

5

Number of DOFs of the system

\(n_{a}\)

2

Number of actuated joints

\( {m}_{i}\)

1

(kg)

Mass of \(link_{i}\), \(i=1,\ldots ,n_{\ell }\)

\(\ell _{i}\)

0.15

(m)

Length of \(link_{i}\), \(1=1,\ldots ,n_{\ell }\)

\(I_{{\mathrm{com}},i}\)

0.002

(kg m²)

Rotational inertia for the ith link

\(\varvec{\tau }_{\mathrm{act}} = [\tau _{a1}, \tau _{a2}]^{\mathrm{T}}\)

(N m)

Input joint torques

\(\mu _{s}\)

0.1

Coefficient of (static) friction used for Scenario 2