xC 0.014[m] x coordinate of point C yC 0.072[m] y coordinate of point C beta0 -0.0620[rad] Initial beta gamma0 0.4552[rad] Initial gamma delta0 0.4873[rad] Initial delta epsilon0 1.2305[rad] Initial epsilon theta0 0[rad] Initial theta phi0 0.2227[rad] Initial phi omega0 0.2227[rad] Initial omega c0 4530[N/m] Spring coefficient l0 0.07785[m] Unstretched length of the spring M0 0.033[N*m] Applied moment m1 0.04325[kg] Mass of link 1 m2 0.00365[kg] Mass of link 2 m3 0.02373[kg] Mass of link 3 m4 0.00706[kg] Mass of link 4 m5 0.07050[kg] Mass of link 5 m6 0.00706[kg] Mass of link 6 m7 0.05498[kg] Mass of link 7 I1 2.194e-6[kg*m^2] Mass moment of inertia of link 1 I2 4.410e-7[kg*m^2] Mass moment of inertia of link 2 I3 5.255e-6[kg*m^2] Mass moment of inertia of link 3 I4 5.667e-7[kg*m^2] Mass moment of inertia of link 4 I5 1.169e-5[kg*m^2] Mass moment of inertia of link 5 I6 5.667e-7[kg*m^2] Mass moment of inertia of link 6 I7 1.912e-5[kg*m^2] Mass moment of inertia of link 7