Parameter | Value |
Length of Link 1 [m] | 0.5 |
Weight of Link 1 [kg] | 2 |
Length of Link 2 [m] | 0.5 |
Weight of Link 2 [kg] | 2 |
Weight of Object [kg] | 400 |
Sampling Period of Control [s] | 0.1 |
Proportional Gain of Joint 1 | 255 |
Integral Gain of Joint 1 | 0.025 |
Differential Gain of Joint 1 | 0.20 |
Proportional Gain of Joint 2 | 75 |
Integral Gain of Joint 2 | 0.025 |
Differential Gain of Joint 2 | 0.15 |
Coefficient of Friction | 0.5 |
Acceleration of Gravity [m/s2] | 9.8 |
Limitation of retransmission of feedforward communication | 6 |
Limitation of retransmission of feedback communication | 6 |