Multi-point Interaction Force Estimation for Robot Manipulators with Flexible Joints Using Joint Torque Sensors.
Xing LiuFei ZhaoBaolin LiuXuesong MeiPublished in: ICIRA (3) (2019)
Keyphrases
- robot manipulators
- contact force
- force control
- position control
- control scheme
- end effector
- inverse kinematics
- human arm
- force feedback
- dynamic model
- trajectory planning
- control of robot manipulators
- master slave
- sliding mode control
- joint angles
- finite element analysis
- pid controller
- control strategy
- robotic manipulator
- control system
- force sensing
- finite element model
- closed loop
- sliding mode
- kinematic constraints
- real time
- data fusion