Research Article
Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation
Table 1
Experiment parameters.
| Parameter name | Parameter value | Description |
| | 60 V | Motor nominal voltage | | 5 A | Motor nominal current | | 0.6 Ω | Motor phase windings resistance | | 0.005 H | Motor phase windings inductance | | 2.3 Vsec/rad | Back e.m.f. constant | | 10 Nm | Motor nominal torque | | 1 A/V | Motor driver gain | | 4 πrad/sec | Motor nominal speed | | 15 Nm | Motor maximum torque | | 2 Nm/A | Torque constant | | 0.012 kg-m2 | Effective inertia | | 0.207 Nms/rad | Effective viscous friction | | 10 Nm | Load torque |
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