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

Table 2

Motor data sheet.

Axis	Type of DC motor	Nominal voltage; (V)	Torque constant (mNm/A)
0	PMI S9M4HI	24	84.10
1	PMI S9M4HI	24	84.10
2	3557 024 CR	24	42.90
3	3557 024 CR	24	42.90
4	3557 024 CR	24	42.90
5	3557 024 CR	24	42.90
6	3557 024 CS	24	41.00
7	3557 024 CS	24	41.00