Research Article
Disturbance Observer-Based Robot End Constant Contact Force-Tracking Control
Table 4
Comparison of
Z-direction force control errors in Figure
13(b).
| | Comparison terms | Maximum deviation (N) | Root-mean-square error |
| | Observer estimation value and desired force | 4.5435 | 0.8250 | | Filtered sensor value and desired force | 5.6338 | 1.7167 | | Observer estimation value and filtered sensor value | 5.6250 | 1.9019 |
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