Skip to main content
. 2020 Nov 30;14:590163. doi: 10.3389/fnbot.2020.590163

Table 1.

Kp, Ki, Kd parameters of the 4 sPID controllers of the ED-Scorbot joints and the close-loop integrator (CLi).

Joints SW Kp NBi FDGENi Ki NBd FDGENd Kd NBCLI FDGENCLi
J1 1,024 2.5e-4 18 4,096 9.3e-2 22 4,096 5.8e-3 18 16
J2 1,024 2.5e-4 18 4,096 9.3e-2 22 4,096 5.8e-3 18 16
J3 512 1.2e-4 18 4,096 9.3e-2 22 4,096 5.8e-3 18 16
J4 512 1.2e-4 18 2,048 0.186 22 2,048 1.2e-2 18 16

NB is bit length, FD is frequency divider value and SW is spike width.