1

2

35

6

7

4

6

4

2

0

-2

40 1 2 3 4 5

Time (sec)

Dri

ving

ang

ular

vel

ocity

2(r

ad s

ecG1

)

2N1

′

2N2 2N3

0.4

0.2

0.0

-0.2

-0.4

0 1 2 3 4 5Time (sec)

Dri

ving

torq

ue J

(Nm

)

J1J1

23

J3J2

7

6

5

4

Dia

gona

l ele

men

t (kg

m2 )

×10G3D11(a)

0 1 2 3 4 5Time (sec)

D22 D33 3

2

1

0

-1

-2

-30 1 2 3 4 5

Time (sec)

Off

-dia

gona

l ele

men

t (kg

m2 )

(b)D12 D13×10G

3 D23

J3J2

773-784_Page_01773-784_Page_02773-784_Page_03773-784_Page_04773-784_Page_05773-784_Page_06773-784_Page_07773-784_Page_08773-784_Page_09773-784_Page_10773-784_Page_11773-784_Page_12JSE.pdfPage 1