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

Table 5

Comparison of Z-direction force control errors in Figure 13(c).

Comparison terms	Maximum deviation (N)	Root-mean-square error
Observer estimation value and desired force	1.1515	0.4122
Filtered sensor value and desired force	2.7768	0.8402
Observer estimation value and filtered sensor value	2.6767	0.8482