arXiv Open Access 2018

Real Time Collision Detection and Identification for Robotic Manipulators

Elena Galbally Mikael Jorda

Lihat Sumber

Abstrak

The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to localize a contact point and estimate the external force. We demonstrate the capability of the particle filter on a simulated 4DoF planar robotic arm, and compare it to a well-established analytical approach.

Topik & Kata Kunci

cs.RO

Penulis (2)

Elena Galbally

Mikael Jorda

Format Sitasi

APA MLA BibTeX

Galbally, E., Jorda, M. (2018). Real Time Collision Detection and Identification for Robotic Manipulators. https://arxiv.org/abs/1802.00546

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2018
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓