Experimental results
| Robot joint | Max acceleration (rad/s2) | Max acceleration derivative (rad/s3) | Average acceleration (rad/s2) | Average acceleration derivative (rad/s3) |
|---|---|---|---|---|
| Second joint | 12.9 | 1446.3 | 1.6 | 264.8 |
| Second joint(compliant) | 4.8 | 1076.2 | 0.6 | 113.7 |
| Forth joint | 29.3 | 2502.3 | 3.8 | 534.6 |
| Forth joint(compliant) | 10.9 | 1857.1 | 1.5 | 484.6 |
| Robot joint | Max acceleration (rad/s2) | Max acceleration derivative (rad/s3) | Average acceleration (rad/s2) | Average acceleration derivative (rad/s3) |
|---|---|---|---|---|
| Second joint | 12.9 | 1446.3 | 1.6 | 264.8 |
| Second joint(compliant) | 4.8 | 1076.2 | 0.6 | 113.7 |
| Forth joint | 29.3 | 2502.3 | 3.8 | 534.6 |
| Forth joint(compliant) | 10.9 | 1857.1 | 1.5 | 484.6 |
Source(s): Table created by authors
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