2021
DOI: 10.1109/tsmc.2019.2920870 View full text |Buy / Rent full text
|
|

Abstract: In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. In this scheme, the trajectory is generated by using geometry vector method with Kinect sensor. To comply with the external torque from the environment, this paper presents a sensorless admittance control approach in joint space based on an observer approach, which is used to estimate external torques applied by the operator. To deal with … Show more

Help me understand this report

Search citation statements

Order By: Relevance
Select...
0
35
0

Publication Types

Select...

Relationship

0
0

Authors

Journals