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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| 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 |