Figure 14. Multiple Contact Point task: a) Reference (dashed), desired (dot-dashed) and actual position (solid) b) Difference between desired trajectory pR,d and the admittance filter output pR,r due to the contact force. c) Estimated (solid) and measured (dashed) tool-tip contact forces - both low pass filtered. d) Estimated (solid) and measured (dashed) tool-tip contact torque - both low pass filtered.
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