viscosity in horizontal movement
viscosity in vertical movement
viscosity in X-axis
viscosity in Y-axis
stiffness of arm
sampling period
3
10
3.496
3.86
400
13.6
viscosity : Newton-sec/m, stiffness : Newton/m, sampling period : msec
Condition 1 : stable in vertical moving, unstable in horizontal collision with a wall
Left wall
Stiffness=688 Newton-sec/m
Upper wall
Stiffness=688 Newton-sec/m
Maximal sampling period
2*(3.496+3)/(688+400)=11.94 ms
2*(3.86+10)/(688+400)=25.4 ms
Condition 2 : stable in both vertical and horizontal moving
Left wall
Stiffness=688 Newton-sec/m
Upper wall
Stiffness=688 Newton-sec/m
Maximal sampling period
2*(3.496+3)/(344+400)=17.46 ms
2*(3.86+10)/(688+400)=25.4 ms
