IEEE - Institute of Electrical and Electronics Engineers, Inc. - Inertial parameters identification and joint torques estimation with proximal force/torque sensing

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Silvio Traversaro ; Andrea Del Prete ; Serena Ivaldi ; Francesco Nori
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 2,105 - 2,110
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139476
Regular:

Classically robot force control passes through joint torques measurement or estimation. Within this context, classical torque sensing technologies rely on current sensing on motor windings and on... View More

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