Contact force and torque sensing for serial manipulator based on an adaptive Kalman filter with variable time period.
Feng CaoPaul David DochertySiliang NiXiaoQi ChenPublished in: Robotics Comput. Integr. Manuf. (2021)
Keyphrases
- contact force
- kalman filter
- kalman filtering
- force control
- master slave
- finite element analysis
- state estimation
- finite element model
- object tracking
- particle filter
- state space model
- extended kalman filter
- real time
- image processing
- computer vision
- mean shift
- image segmentation
- boundary conditions
- experimental data
- force feedback
- machine learning
- graph cuts
- video sequences