Abstract
The paper deals with parameters estimation in the human-robot collaboration scenario. It presents an analytical algorithm for computing of the interaction force and its application point using measurement data obtained from the internal joint torque sensors only. The proposed algorithm is based on a specific extension of static equilibrium equations allowing to find the desired interaction force and action line. Further, this general solution is combined with geometric constraints describing manipulator surfaces and corresponding friction cones. Particular attention is paid to singular cases arising when the interaction force action line intersects one or several joint sensor axes. The developed technique was carefully evaluated via the simulation study.
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