Oct 1, 2021 · Targeting physical human–robot interaction, this research proposes a novel sensorless scheme to estimate the unknown contact force for heavy-duty industrial robots by …

Jun 28, 2019 · 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 …

Abstract—In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with un-known environments in the presence of actuator saturation. …

Oct 5, 2024 · A function approximation technique (FAT) based force sensorless adaptive impedance controller is proposed in this paper for rigid robot manipulators without using force …

In this paper, a force-sensorless high-performance contact force/motion control approach is proposed for multiple-degree-of-freedom hydraulic manipulators. A rigorous stability proof for …

compliance control of the force sensorless, we propose a torque fusion method based on extended Kalman filter (EKF), both the data of motor current and the harmonic reducer …

In order to cope with this problem so as to facilitate the implementation of compliance control, this paper aims to compare various observer-based force-sensorless approaches for implementing …

Abstract—In this paper, a force sensorless control scheme based on neural networks is developed for interaction between robot manipulators and human arms in physical collision. In …

Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and …

A force sensorless impedance controller is proposed in this paper for robot manipulators without using force estimators. From the observation of the impedance control law, the force feedback …