Z Mt p o

Here, we assume that the added mass and added inertia are constant. In reality, the added mass and inertia are variable, but the influence of the variation is compensated by a control method given in the following section.

2.2 Equation of motion

First, the drag force and the moment of joint i can generally by represented as follows (Levesque & Richard, 1994):

fdt =pCD Di'Ri{0H|WidXi, td, = pCD, Di1 Ri{„' xi HIwi||widxi where

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