Table 2 Range for parameter estimation
From: Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes
Each parameter | Minimum | Maximum |
|---|---|---|
Spring constant \(k_{s}\) (N/m/kg) | \(9.0 \times 10^{3}\) | \(9.0 \times 10^{5}\) |
Damping coefficient \(c_{s}\) (Ns/m/kg) | 0.13 | \(1.3\times 10^{3}\) |
Hinge spring constant \(k_{h}\) (Nm/rad/kg) | \(8 .0\times 10^{-3}\) | \(4.0\times 10^{2}\) |
Hinge damping coefficient \(c_{h}\) (Nms/rad/kg) | \(3.0 \times 10^{-7}\) | 0.67 |
Resistance proportional coefficient \(C_{c1}\) (Nms/rad/kg) | \(1.0 \times 10^{-4}\) | 10 |
Air resistance squared proportional coefficient \(C_{c2}\) (Nms/rad/kg) | \(1.0 \times 10^{-4}\) | 10 |
Hinge spring constant of grasp point \(k_{ph}\) (Nm/rad/kg) | \(1.0 \times 10^{-3}\) | 5.0 |
Hinge damping coefficient of grasp point \(c_{ph}\) (Nms/rad/kg) | \(1.1 \times 10^{-6}\) | 0.37 |