Real-Time Estimation of Multiple Potential Contact Locations and Forces

In this work, we propose a contact point localization and external force estimation algorithm for collaborative robots. comparison with existing approaches, the proposed can detect evaluate multiple solutions more than 3x faster without loss of accuracy. To achieve real-time performance, hierarchical robot representation surface mesh preprocessing was used, allowing us to 50x speedup in run-time, compared checking all points. Mesh includes two-step clustering space vertices normals vectors positions. The method tested simulated Kinova Jaco 2 real KUKA iiwa LBR 14 Our solution allows estimating on 2.3 cm average accuracy 600 Hz loop.