Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation
This paper investigates methods that leverage physical contact between a robot’s structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, wh...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/21/7006 |
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| author | Jan Šifrer Tadej Petrič |
| author_facet | Jan Šifrer Tadej Petrič |
| author_sort | Jan Šifrer |
| collection | DOAJ |
| description | This paper investigates methods that leverage physical contact between a robot’s structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics. |
| format | Article |
| id | doaj-art-679b6fa163ab4a8ebed4efdd397165c4 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-679b6fa163ab4a8ebed4efdd397165c42025-08-20T02:49:49ZengMDPI AGSensors1424-82202024-10-012421700610.3390/s24217006Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic ManipulationJan Šifrer0Tadej Petrič1Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, SloveniaDepartment of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, SloveniaThis paper investigates methods that leverage physical contact between a robot’s structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.https://www.mdpi.com/1424-8220/24/21/7006robotic manipulationenvironmental contactinverse kinematicsquadratic programmingprecision controlsensor integration |
| spellingShingle | Jan Šifrer Tadej Petrič Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation Sensors robotic manipulation environmental contact inverse kinematics quadratic programming precision control sensor integration |
| title | Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation |
| title_full | Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation |
| title_fullStr | Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation |
| title_full_unstemmed | Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation |
| title_short | Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation |
| title_sort | leveraging environmental contact and sensor feedback for precision in robotic manipulation |
| topic | robotic manipulation environmental contact inverse kinematics quadratic programming precision control sensor integration |
| url | https://www.mdpi.com/1424-8220/24/21/7006 |
| work_keys_str_mv | AT jansifrer leveragingenvironmentalcontactandsensorfeedbackforprecisioninroboticmanipulation AT tadejpetric leveragingenvironmentalcontactandsensorfeedbackforprecisioninroboticmanipulation |