Self-calibrated robotic manipulator force observer (original) (raw)

Robotics and Computer-Integrated Manufacturing, 2009

Abstract

In the robotic manipulation context, end-effector contact forces may be difficult to measure mainly due to the tool dynamic interferences such as the inertial forces. In this paper, a whole methodology is proposed to estimate these forces. The new approach is based on a sensor fusion technique that integrates the information of a wrist force sensor, of a 3D accelerometer

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