Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output...

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Detalles Bibliográficos
Autores principales: Duan, Jinjun, Liu, Zhouchi, Bin, Yiming, Cui, Kunkun, Dai, Zhendong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8777628/
https://www.ncbi.nlm.nih.gov/pubmed/35062399
http://dx.doi.org/10.3390/s22020439

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8777628/
https://www.ncbi.nlm.nih.gov/pubmed/35062399
http://dx.doi.org/10.3390/s22020439

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