Automatic Calibration Procedure for a Robotic Manipulator Force Observer

@article{Garca2005AutomaticCP,
  title={Automatic Calibration Procedure for a Robotic Manipulator Force Observer},
  author={Javier G{\'a}mez Garc{\'i}a and Anders Robertsson and Juan G{\'o}mez Ortega and Rolf Johansson},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={2703-2708}
}
In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of… CONTINUE READING
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