✦ LIBER ✦

The precise control of manipulators with high joint-friction using base force/torque sensing

✍ Scribed by Guillaume Morel; Karl Iagnemma; Steven Dubowsky

Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 561 KB
Volume: 36
Category: Article
ISSN: 0005-1098
DOI: 10.1016/s0005-1098(00)00007-8

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✦ Synopsis

Feedback from a base-mounted force/torque sensor can be used to estimate joint torque in robotic manipulators. High precision position control is attainable.