Output-Based Control of Robots with Variable Stiffness Actuation

<div class="floats-full-page floats-full-page-other"><h2>Table 3</h2><div class="floats-full-page-caption">parameters of the positioning and stiffness actuators fast controllers used in the simulations.</div><div class="floats-full-page-content"><table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr /></td></tr><tr class="thead"><td align="left"> Symbol</td><td align="center"> Case no. 1, no. 2, no. 3</td></tr><tr><td class="thead-hr" colspan="2"><hr /></td></tr><tr><td align="left"><span style="width: 21.206249px;"><svg height="18.5075" id="M277" style="vertical-align:-5.39853pt" version="1.1" viewbox="0 0 21.206249 18.5075" width="21.206249" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,18.5075)">
<text transform="matrix(1,0,0,-1,0.498,5.881)">
<tspan style="font-size: 12.50px; " x="0" y="0">Λ</tspan>
</text>
<text transform="matrix(1,0,0,-1,9.275,2.755)">
<tspan style="font-size: 8.75px; " x="0" y="0">1</tspan>
</text>
<text transform="matrix(1,0,0,-1,13.651,0.567)">
<tspan style="font-size: 6.25px; " x="0" y="0">𝑖</tspan>
</text>
</g>
</svg></span></td><td align="center"> 1<i>e</i>4</td></tr><tr><td align="left"><span style="width: 21.206249px;"><svg height="18.5075" id="M278" style="vertical-align:-5.39853pt" version="1.1" viewbox="0 0 21.206249 18.5075" width="21.206249" xmlns="http://www.w3.org/2000/svg">
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<text transform="matrix(1,0,0,-1,0.498,5.881)">
<tspan style="font-size: 12.50px; " x="0" y="0">Λ</tspan>
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<text transform="matrix(1,0,0,-1,9.275,2.755)">
<tspan style="font-size: 8.75px; " x="0" y="0">2</tspan>
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<tspan style="font-size: 6.25px; " x="0" y="0">𝑖</tspan>
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</svg></span></td><td align="center"> 150</td></tr><tr><td align="left"><span style="width: 19.408751px;"><svg height="18.32" id="M279" style="vertical-align:-5.39853pt" version="1.1" viewbox="0 0 19.408751 18.32" width="19.408751" xmlns="http://www.w3.org/2000/svg">
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<text transform="matrix(1,0,0,-1,0.498,5.881)">
<tspan style="font-size: 12.50px; " x="0" y="0">Γ</tspan>
</text>
<text transform="matrix(1,0,0,-1,7.837,2.755)">
<tspan style="font-size: 8.75px; " x="0" y="0">1</tspan>
</text>
<text transform="matrix(1,0,0,-1,12.214,0.567)">
<tspan style="font-size: 6.25px; " x="0" y="0">𝑖</tspan>
</text>
</g>
</svg></span></td><td align="center"> 9<i>e</i>3</td></tr><tr><td align="left"><span style="width: 19.408751px;"><svg height="18.32" id="M280" style="vertical-align:-5.39853pt" version="1.1" viewbox="0 0 19.408751 18.32" width="19.408751" xmlns="http://www.w3.org/2000/svg">
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<text transform="matrix(1,0,0,-1,0.498,5.881)">
<tspan style="font-size: 12.50px; " x="0" y="0">Γ</tspan>
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<text transform="matrix(1,0,0,-1,7.837,2.755)">
<tspan style="font-size: 8.75px; " x="0" y="0">2</tspan>
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<text transform="matrix(1,0,0,-1,12.214,0.567)">
<tspan style="font-size: 6.25px; " x="0" y="0">𝑖</tspan>
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</svg></span></td><td align="center"> 2.7<i>e</i>5</td></tr><tr><td align="left"><span style="width: 19.408751px;"><svg height="18.32" id="M281" style="vertical-align:-5.39853pt" version="1.1" viewbox="0 0 19.408751 18.32" width="19.408751" xmlns="http://www.w3.org/2000/svg">
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<tspan style="font-size: 8.75px; " x="0" y="0">3</tspan>
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<tspan style="font-size: 6.25px; " x="0" y="0">𝑖</tspan>
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</svg></span></td><td align="center"> 1<i>e</i>3</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr" /></td></tr></table></td></tr></table></div></div>

Table 3 | Output-Based Control of Robots with Variable Stiffness Actuation

title

Table 3: Output-Based Control of Robots with Variable Stiffness Actuation

description

Table 3

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