A New Contact Force Estimation Method for Heavy Robots Without Force Sensors by Combining CNN-GRU and Force Transformation

A New Contact Force Estimation Method for Heavy Robots Without Force Sensors by Combining CNN-GRU and Force Transformation

In response to the safety control requirements of heavy robot operations, to address the problems of cumbersome, time-consuming, poor accuracy and low real-time performance in robot end contact force estimation without force sensors by using traditional manual modeling and identification methods, th...

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Bibliographic Details
Main Authors: Peizhang Wu, Hui Dong, Pengfei Li, Yifei Bao, Wei Dong, Lining Sun
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Technologies
Subjects:
heavy robot
force sensorless
CNN-GRU
contact force estimation
Online Access:https://www.mdpi.com/2227-7080/13/5/192
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