Inverse
Dynamics
Approach
Forward
Kinematics
Approach
Place hand at cartesian target
using inverse kinematics
Measure joint angles
Measure joint loads
(torque sensors)
Estimate expected loads using Inverse Dynamics
Subtract estimates from measured loads to estimate force on hand
Respond Compliantly by :
Moving hand to maintain
constant contact force
Place hand at cartesian target
using inverse kinematics
Measure joint angles
Estimate hand
position using forward
kinematics
Respond Compliantly by :
Changing target position if distance between actual and target positions exceeds a threshold
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