Table 2.

Description of parameters, inputs, and outputs of SRM-V1 and SRM-V2.

Parameters
Variable	Description	Default
${\nu }_d$	$\mathrm{releasing} \mathrm{velocity} \mathrm{module} \mathrm{in} m/s$	0.01
$t_s$	$\mathrm{controller} \mathrm{sample} \mathrm{time} \mathrm{in} s$	0.01
$\Vert J_D\Vert {}_{lim}$	$\mathrm{experimental} \mathrm{limit} \mathrm{for} \Vert J_D\Vert$	0.015
${\mathsf{\Omega }}_{lim}$	$\mathrm{experimental} \mathrm{limit} \mathrm{for} {\mathsf{\Omega }}_{i,j}$	$1.8°$
${\overrightarrow{maxq}}_{ind}$	maximum feasible values for the actuators’ length in $m$$, 4x1$ vector	${\left[\begin{array}{cc}\begin{array}{cc}0.93& 0.92\end{array}& \begin{array}{cc}0.93& 0.82\end{array}\end{array}\right]}^T$
${\overrightarrow{minq}}_{ind}$	minimum feasible values for the actuators’ length in $m$$, 4x1$ vector	${\left[\begin{array}{cc}\begin{array}{cc}0.65& 0.64\end{array}& \begin{array}{cc}0.65& 0.54\end{array}\end{array}\right]}^T$
${\overrightarrow{\mathsf{\alpha }}}_{lim}$	experimental limits for the spherical joints, $3x1$ vector	$38°$
${\mathrm{M}}_{inc}$	$\mathrm{possible} \mathrm{increments}/\mathrm{decrements} \mathrm{for} \overrightarrow{\Delta i}$	See equation (10)
$\overrightarrow{\Delta i}$	$\mathrm{column} \mathrm{vector} 4x1$, persistent variable	-
Inputs
Variable	Description	Default
$e_{pin}$	enable pin	-
$\Vert J_D\Vert {}_c$	determinant of the forward Jacobian matrix, feedback signal	-
${\overrightarrow{\mathrm{V}\mathsf{\Omega }}}_c$	column vector with the six ${\mathsf{\Omega }}_{i,j}$ indices, feedback signals	-
${\overrightarrow{X}}_c$	position and orientation of the mobile platform, feedback signal	-
${\overrightarrow{q}}_{{ind}_r}$	trajectory for the actuators, reference signal	-
Outputs
Variable	Description	Default
${\overrightarrow{q}}_{{ind}_d}$	trajectory for the actuators, desired signal	-