Skip to main content

Table 7 Empirically decided VACA parameters for lifting light and heavy objects with the PARS

From: Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system

Control strategy VACA parameters
m0 (kg) xth (m) k (s) t (s) T (s) α (s−1)
VACA (light) 1.5 0.01 13.1 14.1 1.0 1.03
VACA (heavy) 10 0.05 0.5 1.5 1.0 3.1