Hai-Hong Ai

Sensorless Normal Force Measurement and Constant-Force Tracking for Manipulators in Kelvin–Voigt Environments With Unknown Contact-Surface Positions

Stable and accurate normal contact force measurement is critical for constant-force interaction between manipulators and their environment. End-effector force/torque sensors are costly and may reduce the payload capacity of the manipulator. A disturbance observer enables sensorless normal contact force measurement. Noi...