On the Interaction Force Sensing Accuracy Of Franka Emika Panda Robot

Petrea, Razvan Andrei Budau; Bertoni, Massimiliano; Oboe, Roberto

doi:10.1109/iecon48115.2021.9589424

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2024

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Cited by 5 publications

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“…Especially the estimates for external wrenches show an offset and sensitivity to configuration and regions of the workspace (cf. Petrea et al (2021)).…”

Section: Digital Twinmentioning

confidence: 99%

PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications

Elsner¹,

Reinerth²,

Figueredo³

et al. 2022

Front. Virtual Real.

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In this paper, we introduce a tele-robotic station called “PARTI” that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate multibody system dynamics and frictional contacts with digital twins of our robots in a virtual environment with real-time computational capabilities. This model mediated hardware-in-the-loop approach to robotic control allows a teleoperator to use the PARTI system to teach, evaluate, and control various robotic applications. In the current contribution, we focus on the general system description, integrated simulation and control framework, and a series of experiments highlighting the advantages of our approach.

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“…Especially the estimates for external wrenches show an offset and sensitivity to configuration and regions of the workspace (cf. Petrea et al (2021)).…”

Section: Digital Twinmentioning

confidence: 99%