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This work proposes a design and performance quantification methodology for observer-based impact detection in serial robot manipulators in presence of modelling errors and without force/torque sensor. After expressing the modelling errors between the physical robot and its inverse dynamic model as the sum of contributions due to dynamic parameters uncertainties and numerical differentiation errors...
In the context of human-robot interaction, detecting an impact between a serial robot manipulator and the human operator or its environment efficiently and at the earliest is essential for safe and efficient operations. This work relies on the generalized momentum based-observer for robot impact detection using only motor/joint information and characterizes the uncertainties to quantify the expected...
This paper first presents a complete kinematic model and then presents kinematic model based error and offset models for tracked vehicles towing wheeled trailers or implements. In contrast to wheeled vehicles, the tracked vehicles have two tracks on either side of the vehicle. Steering is almost always through skid steer. They are fast becoming popular in agricultural fields due to excellent traction...
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