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Abstract
This paper presents a method for online estimation of contact point and surface normal from in-contact motion of a robot manipulator equipped with a force/torque sensor. Two interconnected linear estimators are used to solve the estimation problem. The estimation applies to contacts that can be modeled with the soft finger contact model, which is a generalization of previous work. We present a condition under which the two estimated parameters (surface normal and contact point) converge to their true values. The proposed estimation algorithm is verified in simulation and validated on a collaborative robot manipulator
Originalsprog | Engelsk |
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Titel | 2021 20th International Conference on Advanced Robotics (ICAR) |
Forlag | IEEE |
Publikationsdato | 2021 |
Sider | 19-25 |
ISBN (Elektronisk) | 978-1-6654-3684-7 |
DOI | |
Status | Udgivet - 2021 |
Begivenhed | 2021 20th International Conference on Advanced Robotics (ICAR) - Congress Centre Cankarjev dom, Ljubljana, Slovenien Varighed: 7. dec. 2021 → 10. dec. 2021 Konferencens nummer: 20 https://icar-2021.org/ |
Konference
Konference | 2021 20th International Conference on Advanced Robotics (ICAR) |
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Nummer | 20 |
Lokation | Congress Centre Cankarjev dom |
Land/Område | Slovenien |
By | Ljubljana |
Periode | 07/12/2021 → 10/12/2021 |
Internetadresse |
Fingeraftryk
Dyk ned i forskningsemnerne om 'Simultaneous Contact Point and Surface Normal Estimation during Soft Finger Contact'. Sammen danner de et unikt fingeraftryk.Relaterede projekter
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