Identification of Intrinsic Friction and Torque Ripple for a Robotic Joint with Integrated Torque Sensors with Application to Wheel-Bearing Characterization

Identification of Intrinsic Friction and Torque Ripple for a Robotic Joint with Integrated Torque Sensors with Application to Wheel-Bearing Characterization

Although integrated joint torque sensors in robots dispel the need for external force/torque sensors at the wrist to measure interactions, an inherent challenge is that they also measure the robot’s intrinsic dynamics. This is especially problematic for delicate robot manipulation tasks, where inter...

Full description

Saved in:
Bibliographic Details
Main Authors: Sri Harsha Turlapati, Van Pho Nguyen, Juhi Gurnani, Mohammad Zaidi Bin Ariffin, Sreekanth Kana, Alvin Hong Yee Wong, Boon Siew Han, Domenico Campolo
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:Sensors
Subjects:
intrinsic dynamics
linear regression
contact-rich
wheel-bearing inspection
Online Access:https://www.mdpi.com/1424-8220/24/23/7465
Tags: Add Tag
No Tags, Be the first to tag this record!

Internet

https://www.mdpi.com/1424-8220/24/23/7465

Similar Items