Estimation of External Force-Torque Vector Based on Double Encoders of Industrial Robots Using a Hybrid Gaussian Process Regression and Joint Stiffness Model

Estimation of External Force-Torque Vector Based on Double Encoders of Industrial Robots Using a Hybrid Gaussian Process Regression and Joint Stiffness Model

Industrial robots are increasingly used in industry for contact-based manufacturing processes such as milling and forming. In order to meet part tolerances, it is mandatory to compensate tool deflections caused by the external force-torque vector. However, using a third-party measuring device for se...

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Bibliographic Details
Main Authors: Eckart Uhlmann, Mitchel Polte, Julian Blumberg
Format: Article
Language:English
Published: Publishing House of Wrocław Board of Scientific Technical Societies Federation NOT 2023-06-01
Series:Journal of Machine Engineering
Subjects:
industrial robots
double encoders
force-torque estimation
Online Access:http://jmacheng.not.pl/Estimation-of-External-Force-Torque-Vector-Based-on-Double-Encoders-of-Industrial,167359,0,2.html
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