Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations

• Main Authors: Phan, Gia-Hoang, Hansen, Clint, Tommasino, Paolo, Hussain, Asif, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Robotics; Instrumented Tool
• Online Access: https://hdl.handle.net/10356/155151
• Institution: Nanyang Technological University

In recent years, robots have contributed extensively to the automation of repetitive tasks for which position control-based approaches represent effective solutions. However, other contact tasks such as finishing, deburring and grinding require both position and force control. To date, despite the a...