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Journal of Robotics
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2011
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Article
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Tab 2
Research Article
Output-Based Control of Robots with Variable Stiffness Actuation
Table 2
Parameters of the three-link planar manipulator controller used in the simulations.
Symbol
Case no. 1
Case no. 2, no. 3
π€
πΎ
π
diag
{
1
6
,
1
6
}
diag
{
1
0
0
,
1
0
0
}
π€
π·
π
diag
{
6
,
6
}
diag
{
3
0
,
3
0
}
π€
π
π
diag
{
0
.
0
2
,
0
.
0
2
}
diag
{
0
.
0
2
,
0
.
0
2
}
Ξ
1
π
90
90
Ξ
2
π
2.7
e
3
2.7
e
3
Ξ
3
π
10
10