ESTIMATION OF GRASPING TORQUE USING ROBUST REACTION TORQUE OBSERVER FOR ROBOTIC FORCEPS

Doctoral thesis Japanese OPEN
塚本, 祐介;
(2015)
  • Subject:
    arxiv: Computer Science::Robotics | Astrophysics::Earth and Planetary Astrophysics

In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reacti... View more
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