Fine Robotic Manipulation without Force/Torque Sensor

arXiv:2301.13413v2 Announce Type: replace-cross
Abstract: Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the environment onto the robot (the external wrench). Although a typical 6-axis F/T sensor can provide highly accurate measurements, it is expensive and vulnerable to drift and external impacts. Existing methods aiming at estimating the external wrench using only …

abstract applications arxiv control cs.lg cs.ro environment industrial manipulation robot robotic robotic manipulation sensing sensor the end the environment type