Figure 3.
The graph shows force versus position with spring behavior commanded (heavy dot). PD controller alone (solid), PD controller with force feedback, Kf = 5 (dashed). Qualitatively, the roughly 3 N of friction force is almost imperceptible.
Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.