for the robot, these compensators provided acceptable performance for this second generation

orange-picking robot.


Table 8.8. Final determined values for all controller parameters.

 Control
 Joint Scheme Kc Ti 7d
 (sec) (sec)
 0 Position 15.00 (D/A word)/deg 3.70 1.50
 1 Position 15.00 (D/A word)/deg 3.70 1.00
 2 Position 20.00 (cm/sec)/cm N/A N/A
 0 Velocity 2.50 (D/A word)/(deg/sec) 0.50 0.05
 1 Velocity 6.00 (D/A word)/(deg/sec) 2.00 0.01
 2 Velocity 10.00 (D/A word)/(cm/sec) 20.00 0.10
 0 Vision 4.00 (D/A word)/pixel 0.02 0.01
 1 Vision 4.00 (D/A word)/pixel 0.02 0.01
 Note: N/A = Not Applicable