The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER\r\nbioinspired robotic arm.The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the\r\nposition control.The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P\r\nsystem) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed\r\nwith the two systems on a planar representation of theDEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness\r\nof the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with\r\ngreat precision the desired position.Thetwo controllers do not have large differences in performance when interacting with a lower\r\nstiffness environment. In case of an environment with greater rigidity, the PI system is more stable.Thesubsequent implementation\r\nof these control systems on theDEXTER robotic bioinspired armgives guidance on the design and control optimisation of the arms\r\nof the humanoid robot named SABIAN.
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