An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators.
Ramon SargeantLakmal D. SeneviratneKaspar AlthoeferPublished in: ICRA (2012)
Keyphrases
- contact force
- finite element analysis
- position control
- master slave
- force control
- robotic manipulator
- control scheme
- direct drive
- finite element model
- degrees of freedom
- closed loop
- finite element
- force feedback
- robotic arm
- external forces
- control law
- distance measure
- end effector
- force sensing
- control system
- control algorithm
- computer aided design
- similarity measure
- robotic systems
- pose estimation