Table 2 Rate of improvement in the response performance of the fractional order admittance control algorithm.
From: Parallel robotic automated docking method for realizing space segment assembly
Test sequence | Percentage of response rate reduction (%) | Reduced percentage of overshooting (%) |
|---|---|---|
(a) On the Z-axis translational degree of freedom | ||
 1 | 52.05 | 23.86 |
 2 | 49.98 | 19.84 |
 3 | 51.02 | 21.36 |
 4 | 52.15 | 23.96 |
 5 | 50.59 | 20.15 |
 Average | 51.16 | 21.83 |
(b) On the rotational degree of freedom around the Z-axis | ||
 1 | 41.28 | 4.52 |
 2 | 41.85 | 3.98 |
 3 | 40.12 | 5.02 |
 4 | 42.23 | 3.78 |
 5 | 43.09 | 4.62 |
 Average | 41.71 | 4.39 |
