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 using the combined strength of state observers and NN approximation of friction.

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 physical collision. In this scheme, the trajectory is generated by using geometry vector method with Kinect sensor.

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. The external environment are defined as linear models with unknown dynamics.

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 estimators. The basic idea is to rewrite the traditional impedance controller by replacing the contact force with the target impedance so that a force sensorless impedance ...

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 an entire hydraulic manipulator performing contact tasks is provided ...

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 torsional defor-

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 impedance control of collaborative robot manipulators.

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 this scheme, the trajectory is generated by using geometry vector method with Kinect sensor.

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 coupling dynamics compensation (exploiting the provided estimated environment stiffness).

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 term can be canceled if the inertia matrix in the target impedance is …