Table 5.
Identified motor and friction parameters.
| Joint no | Collision detection time, s | ||
|---|---|---|---|
| β = 30 | β = 5 | UR | |
| 1 | 18.052 | 18.02 | 18.042 |
| 2 | 18.082 | 18.136 | 18.072 |
| 3 | 18.178 | 18.198 | 18.208 |
| 4 | – | – | – |
| Overall | 18.052 | 18.02 | 18.042 |
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.