Research Article
Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design
Table 2
Experimental parameters.
| | Parameters | Case 1 | Case 2 | Case 3 | Case 4 |
| | Wave impedance | 50.0 | 50.0 | 50.0 | 50.0 | | Position gain (s−2) | 400.0 | 400.0 | 400.0 | 400.0 | | Velocity gain (s−2) | 40.0 | 40.0 | 40.0 | 40.0 | | Cutoff frequency of DOB (rad/s) | 500.0 | 50.0 | 500.0 | 500.0 | | Cutoff frequency of RFOB (rad/s) | 500.0 | 50.0 | 500.0 | 500.0 | | Cutoff frequency of wave filter (rad/s) | — | — | 550.0 | 31.416 | | Time delay (ms) | | | | |
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