IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robotic force estimation using motor torques and modeling of low velocity friction disturbances

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Magnus Linderoth ; Andreas Stolt ; Anders Robertsson ; Rolf Johansson
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 3,550 - 3,556
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696862
Regular:

For many robot operations force control is needed, but force sensors may be expensive and add mass to the system. An alternative is to use the motor torques, though friction causes large... View More

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