Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023)（2023）
Key words
collision detection,complete contact detection,contact forces,contact particle filter scheme,contact point estimation,contact point location,external GTE CoboSafe sensor,generalized momentum,human-robot interaction,industrial collaborative robot,joint encoder measurements,joint torque sensor measurements,LARA 5 cobot,monitoring energy,motor,reaction scheme,residual method,robot body,virtual joint torque sensing applied
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