Table 2 Comparison of controllers
From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles
Controller | Controlled variable | Accuracy | Dynamic compliance | Stability |
|---|---|---|---|---|
Position PID | Position | High | No | High |
Compliance control | Internal pressure | Relatively low | Adjustable compliance | Relatively high |
Impedance control | Internal pressure | Relatively low | Adjustable compliance, damping and inertia | Low |
Proposed control | internal pressure | low | adjustable compliance, damping and inertia | relatively high |