Author: Kröger Torsten Kubus Daniel Wahl Friedrich M.
Publisher: Taylor & Francis Ltd
ISSN: 1568-5535
Source: Advanced Robotics, Vol.21, Iss.14, 2007-10, pp. : 1603-1616
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Abstract
This paper focusses on sensor fusion in robotic manipulation: six-dimensional (6-D) force/torque signals and 6-D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Apart from an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations and calculations that are required for this 6-D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented and the achieved results are discussed.
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