Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot

Table 4

𝑆_𝑓 for some vibration signals.

𝑆𝑓(N.Vib)=0.98	2𝑣𝑝−𝑝	4𝑣𝑝−𝑝	6𝑣𝑝−𝑝
5 Hz	0.68	0.27	0.37
10 Hz	0.52	0.29	0.4
15 Hz	0.63	0.35	0.39