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

Table 6

Reference values of the PI System.

𝐾𝐹	𝐾𝐼	𝐾𝑃	𝐾𝐷	𝐾𝐴
0.0005	0.08	10^6	6000	1000