External Joint Torques Estimation for a Position-Controlled Manipulator Employing an Extended Kalman Filter.
Loris RovedaDaniele RivaGiuseppe BuccaDario PigaPublished in: UR (2021)
Keyphrases
- degrees of freedom
- computer controlled
- dynamic model
- end effector
- human arm
- joint angles
- contact force
- robot manipulators
- data sets
- internal and external
- estimation process
- position and orientation
- estimation algorithm
- path planning
- neural network
- maximum likelihood estimation
- position information
- estimation error
- parameter estimation
- robotic manipulator
- joint estimation
- control system
- position control