首页|Investigators at Nanyang Technological University Describe Findings in Robotics (Fine Robotic Manipulation Without Force/torque Sensor)
Investigators at Nanyang Technological University Describe Findings in Robotics (Fine Robotic Manipulation Without Force/torque Sensor)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news reporting originating from Singapore, Singapore, by NewsRx correspondents, research stated, "Force Sensing and Force Control are ess ential to many industrial applications. Typically, a 6-axis force/torque (F/T) s ensor is installed between the robot's wrist and the end effector to measure the forces and torques exerted by the environment on the robot (the external wrench )." Financial support for this research came from National Research Foundation. Our news editors obtained a quote from the research from Nanyang Technological U niversity, "While a typical 6-axis F/T sensor can offer highly accurate measurem ents, it is expensive and vulnerable to drift and external impacts. Existing met hods aiming at estimating the external wrench using only the robot's internal si gnals are limited in scope. For instance, the estimation accuracy has mainly bee n validated in free-space motions and simple contacts, rather than tasks like as sembly that require high-precision force control. In this letter, we present a N eural-Network-based solution to overcome these challenges. We offer a detailed d iscussion on model structure, training data categorization and collection, as we ll as fine-tuning strategies. These steps enable precise and reliable wrench est imations across a variety of scenarios."
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