Autori
Gabriele Buondonno and Alessandro De Luca
Abstract
When a robot physically interacts with its environment, and the task requires an accurate exchange of forces and moments at the tool/end-effector level, classical control solutions rely on the use of a 6D Force/Torque (F/T) sensor mounted on the robot final flange. However, such a sensor does not measure external wrenches acting on the manipulator body, which is instead an increasingly relevant requirement in safe physical human-robot interaction. This work explores the possibility of combining a F/T sensor placed at the robot base with our former virtual force sensing approach, which uses model-based computation of the residual vector to detect generic collisions and isolate the colliding link, possibly complemented by external RGB-D sensing to localize the contact point.
