Abstract
For the automation of certain industrial tasks, like the handling of deformable materials, force/torque sensors are frequently employed in robotic manipulators. This work investigates different signal processing strategies for a force sensor mounted on the end-effector of a biaxial gantry robot. For this, a suitable mathematical model of the manipulator is derived and analyzed. The merits and limitations of the proposed signal processing strategies are compared and validated by a number of experimental results.
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