Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

•A high-performance tracking control method is proposed for surgical robot.•A non-linear hysteresis compensation algorithm is proposed.•A joint angle estimator is proposed considering the dynamic characteristics.•An external force self-sensing estimator is proposed based on the cable disturbances.