Table 2 Parameters used in the experiments
Parameter | Description | Value |
|---|---|---|
\(T_s\) | Sampling time | 0.75 ms |
\(\delta q_s\) | Resolution of encoder at slave-side | 108,000 pulse/rev. |
\(\delta q_m\) | Resolution of encoder at master-side | 324,000 pulse/rev. |
\(J_{mn}\) | Nominal motor inertia of master system | 0.94 \(\times 10^{-6}\) |
\(K_{tmn}\) | Nominal torque constant of master system | 0.3 Nm/A |
\(l_s\) | Arm length of slave system | 0.155 m |
\(K_{p}\) | Position gain | 2000 |
\(K_{v}\) | Velocity gain | 127 |