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

Table 2

Main parameters of the 6-dimension force/torque sensor.

	FX (N)	FY (N)	FZ (N)	MX (Nm)	MY (Nm)	MZ (Nm)
Range	200	200	500	5	5	10
Uncertainty	±0.5	±1.5	±2	±0.03	±0.04	±0.06