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-m^2	Effective inertia
	0.207 Nms/rad	Effective viscous friction
	10 Nm	Load torque