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Improved force control for conventional arms using wrist-based torque feedback

  • Chapter 11 Fine-Motion Planning and Control
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

Torque control is an effective technique for improving robot performance. However, most conventional robots are not equipped with torque sensors, and they are difficult to add without modifying the robot's mechanical structure. To address this problem, we have developed a new method that allows torque feedback to be implemented in the absence of joint-torque sensors. This technique estimates the torque components acting in the force-control subspace, using a conventional wrist force sensor. We have implemented and experimentally validated this approach using a PUMA 560 manipulator. Our results confirm the effectiveness of this method in dealing with the limitations of conventional actuation/transmission systems.

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References

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Authors and Affiliations

  1. Robotics Laboratory Department of Computer Science, Stanford University, 94305, Stanford, CA

    David Williams & Oussama Khatib

Authors
  1. David Williams
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  2. Oussama Khatib
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Williams, D., Khatib, O. (1997). Improved force control for conventional arms using wrist-based torque feedback. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035241

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  • DOI: https://doi.org/10.1007/BFb0035241

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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