Wrench Estimation of Modular Manipulator with External Actuation and Joint Locking
Yonghyeok Kim,Hasun Lee,Jeongseob Lee,Dongjun Lee,Yonghyeok Kim,Hasun Lee,Jeongseob Lee,Dongjun Lee
This paper proposes an external wrench estimation method for modular manipulators, where each link module is driven with external actuation (e.g., rotors, thrusters) and inter-module joints can be locked to increase end-effector stiffness or workforce of the manipulator. For such systems, the commonly-used momentum-based observer (MBO [1]) is not suitable due to the presence of unknown joint locki...