Table 1.
The physical significance of all symbols in equations.
| Symbols | Physical significance |
|---|---|
| θ 1 | The motor angle of EEULRebot upper arm |
| θ 2 | The motor angle of EEULRebot forearm |
| L 1 | The length of EEULRebot upper arm |
| L 2 | The length of EEULRebot forearm |
| m u | The mass of EEULRebot upper arm |
| m f | The mass of EEULRebot forearm |
| m s | The mass of force senor at the end-effector of EEULRebot |
| E k | Kinetic energy |
| E p | Potential energy |
| L | Mechanical energy |
| τ 1e | Resultant external torque of motor of EEULRebot upper arm |
| τ 2e | Resultant external torque of motor of EEULRebot forearm |
| J | The Jacobian matrix of the EEULRebot system |
| τ e | Equivalent torque of external forces |
| F x | The external force in x-axis |
| F y | The external forces in y-axis |
| τ 1 | Motor torque of EEULRebot upper arm |
| τ 2 | Motor torque of EEULRebot forearm |