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Document type:
Report / Forschungsbericht 
Author(s):
Hang Su, Wen Qi, Yingbai Hu, Juan Sandoval, Longbin Zhang, Yunus Schmirander, Guang Chen, Andrea Aliverti, Alois Knoll, Giancarlo Ferrigno, and Elena De Momi 
Title:
Towards Model-Free Tool Dynamic Identification and Calibration Using Multi-Layer Neural Network 
Abstract:
In robot control with physical interaction, like robot-assisted surgery and bilateral teleoperation, the availability of reliable interaction force information has proved to be capable of increasing the control precision and of dealing with the surrounding complex environments. Usually, force sensors are mounted between the end effector of the robot manipulator and the tool for measuring the interaction forces on the tooltip. In this case, the force acquired from the force sensor inclu...    »
 
Contracting organization:
Sensors - MDPI 
Publisher:
MDPI 
Year:
2019