External force estimation using joint torque sensors for a robot manipulator.
Le Dinh PhongJunho ChoiSungchul KangPublished in: ICRA (2012)
Keyphrases
- robot manipulators
- control scheme
- external force
- external forces
- dynamic model
- active contours
- force control
- control of robot manipulators
- inverse kinematics
- vector field
- closed loop
- contact force
- gradient vector flow
- real time
- data fusion
- force field
- image segmentation
- active contour model
- deformable models
- control strategy
- end effector
- control system
- level set
- joint angles
- control algorithm
- computer vision