Research Article
Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
Table 3
Values of friction coefficients.
| Parameters | No vibration | With vibration |
| Link Coulomb const. | -link= 0.05 | — | Link Viscose const. | -link= 0.1 | — | Motor coulomb const. | β = 0.83, A = 3.6 β = 9, c = 1 | β = 0.3, A = 1.5 β = 3.1, c = 1 | Motor Viscose const. | -motor = 1.43 | — |
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