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)
— The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also(More)
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