A practical explicit-time controller designing for a MIMO robotic system with proportional feedback

This is a data set about a practical explicit-time controller designing for a MIMO robotic system with proportional feedback. The robotic parameters are as follows: the weight is 35 KG; the arm span is 646 mm; the sample time is 0.0005s; the motor speed is 3000 RPM; the current signal amplification ratio is 1000; the motor maximum torque is [1.27, 1.27, 0.64, 0.318, 0.318, 0.159]^T (N \cdot m); the transmission ratio is [81.7853, 101.0453, 101.1892, 81.6735, 80.9486, 51.0270]^T. The desired joint angle trajectory vector is set to q_d=[5+5\sin (0.2t),-5+5\sin (0.2t),4\cos (0.2t),6+2\sin (0.2t),86-2\sin (0.2t),4+-2\cos (0.2t)]^T(^o). The initial joint angle vector is set to q_1(t_0)=[0,0,0,0,90,0]^T(^o). The initial startup time is 30 s, and the time series of data is moved -30s in the figure for easy reading.