Fig. 9From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristicsLocation mode with \(S_{\mathrm{f}}=1.2\) m, \(t_{\mathrm{f}}=10\) s with \(k_{\mathrm{v}}=1.20\). a Translational velocity, b displacement, c armature current, d armature voltageBack to article page