L = 0.45; % Length of Link

ml = 0.0008; % Mass of Link

Jlink = 0.0042; % Moment of Inertia for Link

mb = 0.05; % Mass of Base

R = 2.6; % Resistance of Motor Circuit

Kg = 70; % Gear Ratio of Rotary Base

Kt = 0.00767; % Torque Constant

Kb = 0.00767; % Back Emf Constant

Km = 0.00767; % Motor Constant

fc = 1.8; % Experimentally Computed Natural Frequency

Jb = mb*L^2; % Moment of Inertia of bulb

Jload = Jlink + Jb; % Total Moment of Inertia of Load (Lumped Inertia)

Kstiff = (2*pi*fc)^2*(Jload); % Torsional Stiffness between Lump

Jbase = 0.002; % Moment of Inertia of Base