Disturbance Observer-Based Robot End Constant Contact Force-Tracking Control

Figure 9

Joint torque values at a desired force of −40 N. (a) Joint 1 torque. (b) Joint 2 torque. (c) Joint 3 torque. (d) Joint 4 torque. (e) Joint 5 torque. (f) Joint 6 torque.

(a)

(b)

(c)

(d)

(e)

(f)