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
^𝑤𝐾𝑑	diag{16,16}	diag{100,100}
^𝑤𝐷𝑑	diag{6,6}	diag{30,30}
^𝑤𝑀𝑑	diag{0.02,0.02}	diag{0.02,0.02}
Γ1𝑖	90	90
Γ2𝑖	2.7e3	2.7e3
Γ3𝑖	10	10