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

Figure 10

Normalized experiment results of stiffness, damping, and inertia controls based on momentum observer using torque sensors and current command on the 2-DOF manipulator. The normalization parameters are force: 20 N; torque: 12 Nm; position: 1 rad; velocity: 0.5 rad/s; and acceleration: 0.6 rad/s².