Table 2.
Boundary | x | a2 | a1 | a0 | R2 | RMS | |
---|---|---|---|---|---|---|---|
2-link model | non-slip | [−0.5 0] | 2.3140 ×10−4 | −1.8827 ×10−1 | −8.5327 ×10−5 | 0.999 | 4×10−5 |
[−1.25 −0.5] | 2.4801 ×10−3 | −1.8008 ×10−1 | 3.4997 ×10−3 | 0.999 | 2×10−4 | ||
slip | [−0.5 0] | −3.2984 ×10−2 | −5.9022 ×10−1 | −2.5810 ×10−3 | 0.999 | 1×10−3 | |
[−1.25 −0.5] | −1.8213 ×10−1 | −6.3270 ×10−1 | 1.1219 ×10−2 | 0.999 | 5×10−4 | ||
7-link model | non-slip | [−0.5 0] | 2.1441 ×10−3 | −3.0251 ×10−1 | −7.8846 ×10−4 | 0.999 | 3×10−4 |
[−1.25 −0.5] | −1.2952 ×10−1 | −4.1240 ×10−1 | −2.3666 ×10−2 | 0.999 | 3×10−4 | ||
slip | [−0.5 0] | −4.7109 ×10−1 | −8.0771 ×10−1 | 2.6057 ×10−3 | 0.999 | 1×10−3 | |
[−1.25 −0.5] | −1.3135 ×10−1 | −5.3269 ×10−1 | 5.9536 ×10−2 | 0.999 | 7×10−4 |
The analytical boundary is expressed as ẋ = a0 + a1x + a2x2.