Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Figure 4

Curves of equivalent stiffness of grasping environment with fruit deformation at different grasping velocities. (a)  = 0.1 mm·s⁻¹. (b)  = 0.5 mm·s⁻¹. (c)  = 1 mm·s⁻¹. (d)  = 5 mm·s⁻¹. (e)  = 10 mm·s⁻¹. (f)  = 15 mm·s⁻¹.

(a)

(b)

(c)

(d)

(e)

(f)