Journal of Robotics / 2011 / Article / 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

𝑀 𝐾 𝑑 diag { 1 6 , 1 6 } diag { 1 0 0 , 1 0 0 }
𝑀 𝐷 𝑑 diag { 6 , 6 } diag { 3 0 , 3 0 }
𝑀 𝑀 𝑑 diag { 0 . 0 2 , 0 . 0 2 } diag { 0 . 0 2 , 0 . 0 2 }
Ξ“ 1 𝑖 90 90
Ξ“ 2 𝑖 2.7e3 2.7e3
Ξ“ 3 𝑖 10 10