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

Figure 7

Performance of momentum observer using the torque sensor ((a), (b)) and the current command ((c), (d)) on two joints. The numbers 1 to 6 in the figure correspond to the moments in Figure 6(a).

(a)

(b)

(c)

(d)