IEEE - Institute of Electrical and Electronics Engineers, Inc. - External force estimation using joint torque sensors and its application to impedance control of a robot manipulator

2013 13th International Conference on Control, Automaton and Systems (ICCAS 2013)

Author(s): Dinh Phong Le ; Junho Choi ; Sungchul Kang
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2013
Conference Location: Gwangju, South Korea
Conference Date: 20 October 2013
Page(s): 1,794 - 1,798
ISBN (CD): 978-89-93215-05-2
ISSN (Paper): 2093-7121
DOI: 10.1109/ICCAS.2013.6704230
Regular:

This paper proposes an algorithm to estimate external forces exerted on the end-effector of a robot manipulator using information from joint torque sensors (JTS). The algorithm is the combination... View More

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