Varsha Shirwalkar

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Various robotic tasks (e.g. polishing, deburring gluing, etc.) require a tool to be moved over some unknown surface with a constant force applied as well as keeping the orientation of the tool normal to the surface. While performing such fine motion control with a position-controlled industrial robot, it is required to sense the forces and accordingly(More)
Industrial robots are primarily position controlled, so they can be used for pick-and-place operations in structured environments, where the entire motion sequence can be programmed in advance. However, when equipped with a force-torque sensor, such a robot is capable of performing tasks that require adaptation to the environment, e.g., assembly operations,(More)
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