A novel collision detection method based on current residuals for robots without joint torque sensors: A case study on UR10 robot.

Mon, 01 Jan 2024 00:00:00 +0100

Tian Xu , Hua Tuo, Qianqian Fang, Debin Shan, Hongzhe Jin, Jizhuang Fan, Yanhe Zhu, Jie Zhao:
A novel collision detection method based on current residuals for robots without joint torque sensors: A case study on UR10 robot. Robotics Comput. Integr. Manuf. 89: 102777 (2024)