Research Article
Sensorless Whole-Body Compliance Control of Collaborative Manipulator Based on Haptic Filter and Position Controller
Figure 4
Simulation results of three control methods on 2-DOF robot structure. (a) Stiffness control, . (b) Damping control, . (c) Inertia control, . The simulation results show that the compliance control strategy is effective.
(a) |
(b) |
(c) |