Name
Abstract | ||
|---|---|---|
This paper focusses on sensor fusion in robotic manipulation: 6D force/torque signals and 6D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Beside 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 6D 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. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.281942 | 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 |
Keywords | Field | DocType |
sensor fusion | Torque,Control theory,Computer science,Industrial manipulator,Fusion,Control engineering,Sensor fusion,Free space,Acceleration,Inertia | Conference |
Citations | PageRank | References |
8 | 0.71 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Torsten Kröger | 1 | 196 | 27.13 |
| Daniel Kubus | 2 | 48 | 9.02 |
| Friedrich M. Wahl | 3 | 794 | 186.93 |