Two-stage calibration of a 6-axis force-torque sensor for robust operation in the Mars 2020 robot arm.
Ethan W. SchalerJames W. WisnowskiYumi IwashitaJeffrey A. EdlundJacqueline H. SlyWilliam RaffKristopher L. KriechbaumMatthew A. FrostRyan L. McCormickJulie A. TownsendPublished in: Adv. Robotics (2021)
Keyphrases
- robot arm
- position control
- contact force
- end effector
- force feedback
- motion planning
- control strategies
- inverse kinematics
- real time
- position and orientation
- natural actor critic
- force control
- control algorithm
- computer vision
- haptic device
- machine learning
- finite element analysis
- nonlinear systems
- robotic manipulator
- evolutionary computation
- dynamic programming