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

Table 3

Drivers.

Axis	Type of driver	Continuous current; (A)	Peak current; (A)	𝐺𝑖=𝐼peak/MaxInput; (A/V)
0	Elmo ISA 10/80	5	10	1
1	Elmo ISA 10/80	5	10	1
2	Elmo ISA 10/80	4	12	1.2
3	Elmo ISA 10/80	4	12	1.2
4	Elmo ISA 10/80	4	12	1.2
5	Elmo ISA 10/80	4	12	1.2
6	Elmo ISA 10/80	2	6	0.6
7	Elmo ISA 10/80	2	6	0.6