Table 1 Each desired mechanical characteristic parameter
From: Series admittance–impedance controller for more robust and stable extension of force control
m | 0.8 | |
|---|---|---|
Impedance control | \(M_{\textrm{d}}\) | 1.0 |
\(K_{\textrm{d}}\) | 50 or 100 or 200 | |
\(D_{\textrm{d}}\) | \(2 \times 0.7 \sqrt{K_{\textrm{d}}M_{\textrm{d}}}\) | |
m | 0.8 | |
\(M_{\textrm{d}}\) | 1.0 | |
Admittance control | \(K_{\textrm{d}}\) | 50 or 100 or 200 |
\(D_{\textrm{d}}\) | \(2 \times 0.7 \sqrt{K_{\textrm{d}}M_{\textrm{d}}}\) | |
\(k_p\) | \(10^6\) | |
\(k_v\) | \(2 \times 0.7 \sqrt{k_pm}\) | |
m | 0.8 | |
\(M_{\textrm{d,i}}\) | 1.0 | |
\(K_{\textrm{d,i}}\) | 50 or 100 or 200 | |
Proposed control | \(D_{\textrm{d,i}}\) | \(2 \times 0.7 \sqrt{K_{\textrm{d,i}}M_{\textrm{d,i}}}\) |
\(M_{\textrm{d,a}}\) | 1.0 | |
\(K_{\textrm{d,a}}\) | \(5\cdot 10^3 \textrm{or} 10^4 \textrm{or} 2\cdot 10^4\) | |
\(D_{\textrm{d,a}}\) | \(2 \times 0.7 \sqrt{K_{\textrm{d,a}}M_{\textrm{d,a}}}\) |