We present a Kalman filter-based approach for estimating external forces and torques
relying on a dynamic model of a serial-chain robotic manipulator where only motor signals (…

Estimating contact forces and torques in Cartesian space enables force-controlled robotic
applications as well as collision detection without costly additional sensing. A new approach …

For tasks in robotic assembly, a basic requirement is the capability of the robotic system to
detect contacts with the environment. While this information can readily be obtained from …

Robotic applications involving environmental interaction require control structures that go
beyond traditional position control. One approach to handle interaction forces is admittance …

Strain wave gears are frequently used in small and medium size industrial robots. In order
to describe and quantify friction effects in gearboxes of such type, a structurally simple, yet …

Input shaping is a well-established approach for suppressing oscillations and vibrations in
systems with flexible modes. When applying input shaping, it is common to assume the …

In this article, two different approaches to design fault isolation observers (FIOs) for linear
systems are developed. They extend the existing results to arbitrary fault detectability indices …

State-of-the-art robotic manipulators come with functions that detect unforeseen contact
situations with the environment. However, for collaborative manipulators that are specifically …

In this article, a design procedure for robust fault isolation observers for linear systems is
proposed. It allows to detect and isolate faults by means of a single, specifically parametrized …

Human-robot collaboration is a key aspect in the development of smart factories in the
context of Industry 4.0. Contrary to traditional industrial manipulators operating in structured …