ideas.txt

oscillations on follower side induce vibrations and impart energy on the leader side

torque controller with - PD and force components run on one executable

https://ieeexplore.ieee.org/abstract/document/1290760?casa_token=ThvwzR28vvsAAAAA:d3XuBqTPvDVfDu0V7Mj4Samxns29v9XzxaKxqpxQO19tIbI60qzE012OyHZ0cFn7agYKDty_zw

https://www.tandfonline.com/doi/abs/10.1080/09398368.2006.11463616


1. Shannon Sampling theorem
2. Cannot increase Cq and Cv practically. Cq - 1000 to 4000, Cv - 50 to 100 , Cf - 30 to 70, Cy is very small - 5 to 15. 
3. Laplace transform - solving differential equation
4. Positions and velocities should follow one another, Forces should be opposing - how to check algorythm works.