A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

<table>End-Effector force value (N) varying the <svg height="15.25" id="M141" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 21.5 15.25" width="21.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> gain in the PI system: (a) <svg height="15.25" id="M142" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 89.887497 15.25" width="89.887497" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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q12 68 2 83t-72 22l6 28h257l-7 -28q-62 -7 -76 -21.5t-27 -83.5l-32 -172q29 11 78 46q112 84 217 179q18 16 23.5 25.5t-1 14.5t-26.5 8l-30 4l5 28h249z" id="x1D43E"></path></g>
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</svg>; (b) <svg height="19.775" id="M143" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 63.575001 19.775" width="63.575001" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,13.25,19.713)"><path d="M619 482q0 -69 -40.5 -119t-96 -72.5t-118.5 -26.5h-44l-70 20l-31 -151q-14 -67 0.5 -83t89.5 -22l-5 -28h-287l8 28q65 7 81.5 22t29.5 83l79 398q12 56 0.5 70.5t-78.5 20.5l7 28h255q108 0 164 -43t56 -125zM524 478q0 141 -146 141q-25 0 -47 -8q-16 -6 -20.5 -13.5
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</svg>.</table>

Journal of Robotics

fig22

Figure 22

Figure 22: A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm 