Sensorless Whole-Body Compliance Control of Collaborative Manipulator Based on Haptic Filter and Position Controller

Figure 1

Sensorless compliance control strategy based on position controller. are the desired joint position, velocity, and acceleration, is the reference trajectory, is the current command, are the actual joint position and velocity, is the total friction compensation term, is the motor-side torque obtained from current command, and are the actual value and the estimation of external torque.