Sensorless collision detection with safe reaction for a robot manipulator.
This thesis is about collision detection and reaction for robot manipulators without joint torque sensors. The method for detecting collisions used by [1], [2] is based on an algorithm that estimates the residual torque i.e. the friction- and external torque in each joint by only using position data...
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| Format: | Others |
| Language: | English |
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KTH, Skolan för industriell teknik och management (ITM)
2019
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263829 |