... on the extended state observer (ESO) to reduce the fluctuation of normal grinding force. Design/methodology/approach First, the measurement range of the six-dimensional force sensor is calibrated according to the maximum acceleration of end-effector and grinding force. Second, the gravity and zero drift...

... e x t (2) { B θ ̈     +     τ =     τ m − τ f   τ   =     K ( θ − q ) Impedance control ADRC Collaborative robot ESO Torque feedback The design of the joint torque controller is independent...