Journal of Robotics / 2011 / Article / Tab 3

Research Article

Output-Based Control of Robots with Variable Stiffness Actuation

Table 3

parameters of the positioning and stiffness actuators fast controllers used in the simulations.

Symbol Case no. 1, no. 2, no. 3

ฮ› 1 ๐‘– 1e4
ฮ› 2 ๐‘– 150
ฮ“ 1 ๐‘– 9e3
ฮ“ 2 ๐‘– 2.7e5
ฮ“ 3 ๐‘– 1e3