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