An Approach to Contact Force Vector Determination and Its Implementation to Provide Intelligent Tactile Interaction with Environment
نویسندگان
چکیده
The force vector information is essential while collision avoidance planning through tactile feedback in autonomous or teleoperation mode. In this paper, we concentrate on the approach to calculation of the applied force vector at any point of the robot arm and its technical realization. Based on the presented force vector calculation flow, we obtained the experimental results validating the ability of the proposed method to trace the contact point position and to estimate force vector robustly and accurately.
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