Application of External Torque Observer and Virtual Force Sensor for a 6-DOF Robot
A personal-computer-based and a Raspberry Pi single-board computer-based virtual force sensor with EtherCAT communication for a six-axis robotic arm are proposed in this paper. Both traditional mathematical modeling and machine learning techniques are used in the establishment of the dynamic model o...
Main Authors: | Chung-Wen Hung, Guan-Yu Jiang |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2023-10-01
|
Series: | Applied Sciences |
Subjects: | |
Online Access: | https://www.mdpi.com/2076-3417/13/19/10917 |
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