IEEE - Institute of Electrical and Electronics Engineers, Inc. - Automation of Train Cab Front Cleaning With a Robot Manipulator

Author(s): Joao Moura ; William Mccoll ; Gerard Taykaldiranian ; Tetsuo Tomiyama ; Mustafa Suphi Erden
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,058 - 3,065
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2849591
Regular:

In this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to... View More

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