Romansy 13 pp 401-408 | Cite as

A Comparative Study of Torque Control Using a Wrist or a Base Force/Torque Sensor

  • F. Geffard
  • C. Andriot
  • G. Morel
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


In teleoperation like in conventional Robotics, accurate control of joint torques is essential to obtain good performance in fine motion task and high resolution contact task. In the case of manipulators not equipped with joint torque sensors, some external sensor solutions must be considered. This paper proposes a theoretical and an experimental comparison between a solution using a base force/torque sensor, and a solution using a wrist force/torque sensor.


Force Control Joint Torque Torque Control Industrial Manipulator Force Control Strategy 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • F. Geffard
    • 1
  • C. Andriot
    • 1
  • G. Morel
    • 2
  1. 1.Service de Teleoperation et RobotiqueCEAFontenay-Aux-RosesFrance
  2. 2.Université L. Pasteur Strasbourg IENSPSLSIITFrance

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