Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Table 2

Contact force data in improved impedance control.

Number	1	2	3	4	5	6	7	8	9	10
Contact force (N)	7.41	7.65	7.22	7.45	7.68	7.55	7.71	7.39	7.51	7.48
Relative error (%)	7.0	4.0	9.4	6.5	3.6	5.3	3.3	7.0	5.8	6.1