Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Figure 16

Typical contact force data obtained through filter (1a)–(1c) with 𝐹=65000N/s² and 𝛼=3, 2-LPF with 𝜔_𝑐𝑙=20,30,and40Hz, and filter (4a)–(4c) with 𝐹=65000N/s².