Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Table 1

Contact force data in traditional impedance control.

Number	1	2	3	4	5	6	7	8	9	10
Contact force (N)	7.28	7.45	7.48	7.24	7.09	7.39	7.45	7.28	7.27	7.40
Relative error (%)	8.6	6.5	6.2	9.1	11.0	7.3	6.5	8.6	8.8	7.1