6D Virtual Sensor for Wrench Estimation in Robotized Interaction Tasks Exploiting Extended Kalman Filter

Industrial robots are commonly used to perform interaction tasks (such as assemblies or polishing), requiring the robot to be in contact with the surrounding environment. Such environments are (partially) unknown to the robot controller. Therefore, there is the need to implement interaction controll...

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Hlavní autoři:	Loris Roveda, Andrea Bussolan, Francesco Braghin, Dario Piga
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2020-10-01
Edice:	Machines
Témata:	extended kalman filter wrench estimation 6D virtual sensor sensorless cartesian impedance control industrial robots interaction robotized tasks
On-line přístup:	https://www.mdpi.com/2075-1702/8/4/67
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