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

Table 1

DEXTER characteristics.

Characteristics	DEXTER
Dimensions (mm) width-length-height	400-400-950
Weight (kg) (payload)	40 (2)
Workspace (mm-°)	1200-350°
Velocity (m/s)	0.2
DOF	Total: 8