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Keywords: Normal vector search
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Journal Articles
Industrial Robot (2023) 50 (3): 376–384.
Published: 03 October 2022
... estimation is proposed, which can distinguish the contact of the human hand and the unknown workpiece contour. Second, a normal vector search algorithm is developed to calculate the normal vector of the unknown workpiece contour in real-time. Finally, the force and position are controlled in the calculated...
