Table 3 Default experimental conditions of impedance control
From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles
Control cycle | 1 ms | Supply pressure | 3.0Â MPa |
|---|---|---|---|
Braking range | \(\pm 1^\circ \) | Average pressure | 1.5Â MPa |
Virtual stiffness \(K_{\text{d}} \) | \(0.02 {\hbox { MPa}/\hbox { deg}}\) | Damping compensation \(B-B_{\text{d}}\) | \(0.02 \,{\hbox {MPa}\cdot \hbox {s}/\hbox {deg}}\) |
Proportional gain \(K_{\text{p}}\) | 50 \({\%_{\mathrm{opening}}/\hbox {MPa}}\) | Inertia compensation \(M-M_{\text{d}}\) | \(0.0005 \,{\hbox {MPa}\cdot \hbox {s}^{2}/\hbox {deg}}\) |