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This paper proposes a reliable method for contact detection in ball screw drive industrial robots. Moreover, the proposed method assumes a type of robot has no force sensor for contact detection. Reaction force observer estimates the external force without such a sensor. To succeed, however, the method requires correct modeling of the robot dynamics for obtaining precise estimation of force. A ball...
In this paper, we propose a new contact detection method for sensorless force control of industrial robots for human support. Sensorless force control is an useful technique with regard to force control of industrial robots. However, existing force estimation methods have some error due to the phase-lag of the disturbance observer, and due to the errors in robot dynamics identification. The proposed...
Sliding a probe over a textured surface generates a rich collection of vibrations that one can easily use to create a mental model of the surface. Haptic virtual environments attempt to mimic these real interactions, but common haptic rendering techniques typically fail to reproduce the sensations that are encountered during texture exploration. Past approaches have focused on building a representation...
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