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Table 2 Parameters used in the experiments

From: Friction and noise suppression for force control system based on integration of observer and force sensor information

\(T_s\)Sampling time0.75 ms
\(\delta q_s\)Resolution of encoder at slave-side108,000 pulse/rev.
\(\delta q_m\)Resolution of encoder at master-side324,000 pulse/rev.
\(J_{mn}\)Nominal motor inertia of master system0.94 \(\times 10^{-6}\)
\(K_{tmn}\)Nominal torque constant of master system0.3 Nm/A
\(l_s\)Arm length of slave system0.155 m
\(K_{p}\)Position gain2000
\(K_{v}\)Velocity gain127