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Gauge based collision detection mechanism for a new three-degree-of-freedom flexible robot

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3 Author(s)
Garcia, A. ; ETSI Ind., Univ. de Castilla-La Mancha, Spain ; Feliu, V. ; Somolinos, J.A.

This paper analyzes the possibility of carrying out the collision detection as a first step towards the position/force control of three-degree-of-freedom flexible arm by using gauges placed at some distance of the tip (where contact is expected) in such way that they can easily stand the impact. Simulated results over a prototype three-degree-of-freedom flexible arm are presented.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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