A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Figure 19

Simulation of the PI System in a planar representation of the DEXTER arm (3DOF) with (a) and without (b) an obstacle: 𝑥=1.86, 𝑦=1.5 is the initial position of the End-Effector; 𝑥=2.35, 𝑦=1.8 is the final position of the End-Effector; 𝑥=2.2 is the position of the obstacle.

(a)

(b)