Table 4 RMS error for simulation tests.
| Â | Test | Position error for PS joint (deg) | Position error for AA joint (deg) | Position error for FE joint (deg) |
|---|---|---|---|---|
Impedance control without weight compensator \(\:{{K}}_{{d}}=6\) \(\:{{C}}_{{d}}=2\) | \(\:PS\:=\:80\text{sin}\left(\frac{\pi\:}{2}t\right)\) \(\:FE=AA=0\) | \(\:5\) | \(\:1.55\) | \(\:0.147\) |
\(\:AA\:=20\text{sin}\left(\frac{\pi\:}{2}\:t\right)\) \(\:PS=FE=0\) | \(\:6.7\) | \(\:1.75\) | \(\:1.72\) | |
\(\:FE\:=50\text{sin}\left(\frac{\pi\:}{2}t\right)\) \(\:PS=AA=0\) | \(\:6.39\) | \(\:2.21\) | \(\:0.183\) | |
Impedance control with weight compensator \(\:{\varvec{K}}_{{d}}=2\) \(\:{{C}}_{{d}}=0.5\) | \(\:PS\:=\:80\text{sin}\left(\frac{\pi\:}{2}t\right)\) \(\:FE=AA=0\) | \(\:0.79\) | \(\:0.19\) | \(\:0.038\) |
\(\:AA\:=20\text{sin}\left(\frac{\pi\:}{2}t\right)\) \(\:PS=FE=0\) | \(\:0.03\) | \(\:0.43\) | \(\:0.01\) | |
\(\:FE\:=50\text{sin}\left(\frac{\pi\:}{2}t\right)\) \(\:PS=AA=0\) | \(\:0.08\) | \(\:0.1\) | \(\:0.08\) |
