ArticleSensors (Basel, Switzerland)2024
Leveraging Environmental Contact and Sensor Feedback for Precision in Robotic Manipulation.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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2 authors.
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Abstract
This paper investigates methods that leverage physical contact between a robot's structure and its environment to enhance task performance, with a primary emphasis on improving precision. Two main approaches are examined: solving the inverse kinematics problem and employing quadratic programming, which offers computational efficiency by utilizing forward kinematics. Additionally, geometrical methods are explored to simplify robot assembly and reduce the complexity of control calculations. These approaches are implemented on a physical robotic platform and evaluated in real-time applications to assess their effectiveness. Through experimental evaluation, this study aims to understand how environmental contact can be utilized to enhance performance across various conditions, offering valuable insights for practical applications in robotics.
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