Research Article
Disturbance Observer-Based Robot End Constant Contact Force-Tracking Control
Table 6
Comparison of
Z-direction force control errors in Figure
13(d).
| | Comparison terms | Maximum deviation (N) | Root-mean-square error |
| | Observer estimation value and desired force | 1.2890 | 0.4028 | | Filtered sensor value and desired force | 2.8464 | 1.0827 | | Observer estimation value and filtered sensor value | 3.0292 | 1.1311 |
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