Variable Structure Control and Its Ground Experimental Test for the Space Station Robot

Table 3

Controller parameters of each joint.

Joint		;
1	800; 0.1	800; 70
2	650; 0.1	6000; 15
3	1000; 0.1	2500; 60
4	650; 0.1	250; 40
5	800; 0	600; 15
6	650; 0.1	600; 15