Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output...

Full description

Bibliographic Details
Main Authors: Jinjun Duan, Zhouchi Liu, Yiming Bin, Kunkun Cui, Zhendong Dai
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Sensors
Subjects:
gravity compensation
inertial compensation
excitation trajectory
Fourier series
fast identification
Online Access:https://www.mdpi.com/1424-8220/22/2/439

Internet

https://www.mdpi.com/1424-8220/22/2/439

Similar Items