Hybrid Position/Force Control for Dual-Machine Drilling and Riveting System

Table 3

Completed experimental results.

Posture	Serial number
1	1-1	2.032	17.99	4.11	0.312
	1-2	2.028	18	4.14	0.298
	1–3	2.028	18.02	4.14	0.298
	1–4	2.028	18.02	4.13	0.306
	1–5	2.032	18.01	4.14	0.298
	1–6	2.028	18	4.14	0.306
	1–7	2.031	18.03	4.16	0.294
	1–8	2.028	18.01	4.15	0.292
	1–9	2.031	17.99	4.14	0.338
	1–10	2.029	18.01	4.14	0.332
2	2-1	1.998	18.03	3.92	0.268
	2-2	1.998	18.02	3.91	0.262
	2-3	1.990	18.02	3.90	0.270
	2–4	2.002	18	3.89	0.252
	2–5	1.992	17.99	3.87	0.258
	2–6	1.992	18.02	3.89	0.216
	2–7	2.000	17.99	3.89	0.274
	2–8	1.992	18.01	3.88	0.274
	2–9	1.982	17.98	3.88	0.274
	2–10	1.996	18.02	3.87	0.248
3	3–1	2.016	18.020	3.77	0.204
	3-2	2.016	17.990	3.74	0.192
	3-3	2.018	18.010	3.76	0.216
	3–4	2.016	18.000	3.76	0.196
	3–5	2.016	18.010	3.76	0.222
	3–6	2.022	18.010	3.74	0.214
	3–7	2.016	18.000	3.75	0.218
	3–8	2.022	17.980	3.74	0.226
	3–9	2.022	17.980	3.75	0.212
	3–10	2.016	17.990	3.74	0.192
4	4–1	2.084	18.01	3.71	0.163
	4–2	2.076	18.01	3.72	0.173
	4-3	2.086	18.01	3.72	0.173
	4-4	2.078	17.98	3.70	0.191
	4–5	2.07	18	3.75	0.189
	4–6	2.068	17.98	3.70	0.195
	4–7	2.08	17.97	3.68	0.183
	4–8	2.082	17.98	3.71	0.179
	4–9	2.07	18	3.70	0.184
	4–10	2.076	17.97	3.71	0.185
5	5–1	1.944	18.03	3.74	0.244
	5–2	1.936	18.01	3.71	0.242
	5–3	1.926	18.04	3.74	0.216
	5-4	1.936	18.02	3.73	0.224
	5-5	1.93	18.01	3.72	0.214
	5–6	1.938	18.01	3.72	0.224
	5–7	1.944	18.03	3.74	0.239
	5–8	1.942	18.06	3.74	0.224
	5–9	1.938	18.02	3.74	0.241
	5–10	1.944	18.01	3.73	0.236
6	6–1	2.016	17.98	3.78	0.336
	6–2	2.008	18.02	3.80	0.361
	6–3	2.004	18	3.79	0.354
	6–4	1.996	18	3.77	0.358
	6-5	2.01	18	3.79	0.376
	6-6	2.01	18	3.79	0.362
	6–7	2.018	18.02	3.81	0.332
	6–8	2.01	17.98	3.77	0.34
	6–9	2.022	18.03	3.93	0.339
	6–10	2.016	18	3.93	0.338
7	7–1	2.014	18.01	3.84	0.63
	7–2	2.006	17.97	3.88	0.617
	7–3	2.012	18.03	3.90	0.614
	7–4	2.012	18.02	3.91	0.602
	7–5	2	17.97	3.89	0.629
	7-6	2.016	18.01	3.79	0.608
	7-7	2.008	18.01	3.82	0.634
	7–8	2	18	3.83	0.618
	7–9	2.016	18	3.84	0.616
	7–10	1.998	18.02	3.90	0.614