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

Table 4

Denavit-Hartenberg parameters.

Joint	𝑎𝑖 (mm)	𝑑𝑖 (mm)	𝛼𝑖 (rad)	𝜃𝑖 (rad)
1	0	0	𝜋/2	𝜃1
2	144	450	−𝜋/2	𝜃2
3	0	0	𝜋/2	𝜃3
4	−100	350	−𝜋/2	𝜃4
5	0	0	𝜋/2	𝜃5
6	−24	250	−𝜋/2	𝜃6
7	0	0	𝜋/2	𝜃7
8	100	0	0	𝜃8