Contact force estimation for backdrivable robotic manipulators with coupled friction

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 3021-3027

  Naerum, Edvard ^a,b   Cornella, Jordi ^a,b   Elle, Ole Jakob ^a  

^a OSLO UNIVERSITY HOSPITAL   (Norway)

^b UNIVERSITY OF OSLO   (Norway)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT FORCES; DYNAMIC EQUATIONS; HAPTIC DEVICES; HYBRID DYNAMICS; IDEAL BEHAVIOR; JOINT FRICTIONS; MOTOR EXCITATION; MULTIPLE JOINTS; PHANTOM OMNI; ROBOTIC MANIPULATORS; SENSABLE TECHNOLOGIES; SYSTEM IDENTIFICATION METHODS;

ESTIMATION; FRICTION; INTELLIGENT ROBOTS; MOTORS;

TRIBOLOGY;

EID: 69549120686     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4651192     Document Type: Conference Paper

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