ATI Industrial Automation: Multi-Axis Force Torque
2021-4-21 · six joint angles qT = (q1,..,q6). The novel force/torque sensors are located at the base of the robot. This setup allowed use of both of the proposed sensors. A six-axes force/torque sensor (ATI-Delta, calibration SI-660-60) and a dedicated gripper were mounted at the end-effector (EE) of the robot, located after the sixth axis.
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