ROBOMECH Journal

Table 2 Details of three sample desired paths (A–C) for simulation verification

From: Basic study of sensorless path tracking control based on the musculoskeletal potential method

	Sample 1		Sample 2		Sample 3
\({\varvec{\theta }_s}\)	\((45,45)^T\)		\((135,45)^T\)		\((90,45)^T\)
\({\varvec{\theta }_e}\)	\((90,90)^T\)		\((45,90)^T\)		\((68,90)^T\)
\({\varvec{\theta }_d}\)	\((90,135)^T\)		\((45,135)^T\)		\((90,135)^T\)
u	\(\varvec{k_e^*}\)	\(\varvec{v^*_d}\)	\(\varvec{k_e^*}\)	\(\varvec{v^*_d}\)	\(\varvec{k_e^*}\)	\(\varvec{v^*_d}\)
1	34.90	34.71	25.64	25.16	28.39	28.21
2	21.98	22.17	36.42	36.75	28.84	29.02
3	22.97	23.28	14.37	14.74	10.91	11.22
4	0.47	2.1E−07	10.62	10.09	0.46	4.2E−08
5	0.01	5.5E−07	0.33	1.2E−07	10.11	10.11
6	13.89	13.50	0.41	7.4E−07	10.00	9.63
\(S_E\)	0.441		0.145		0.337
\({\widetilde{V}}_P\)	0.281		0.092		0.215

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