Research Article
A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm
Table 5
Center of mass of the links.
| | | (mm) | (mm) | (mm) | m (kg) |
| | Link 0 | 0 | 6.92 | 27.72 | 9.429 | | Link 1 | −139.35 | 174.49 | 46.08 | 12.051 | | Link 2 | 0 | −6.11 | 34.59 | 1.627 | | Link 3 | 90.72 | 133.77 | −0.24 | 2.488 | | Link 4 | 0.01 | −3.72 | 20.30 | 0.818 | | Link 5 | −24.01 | 141.05 | 0.11 | 0.541 | | Link 6 | −0.05 | 2.36 | 6.78 | 0.266 | | Link 7 | 10.35 | 1.81 | 33.26 | 0.095 |
|
|
