Research Article
Research on Collision Point Identification Based on Six-Axis Force/Torque Sensor
Table 1
Connecting rod parameters.
| Link | Quality(kg) | Center of mass coordinates in each link coordinate system (mm) |
| 0 | 1.598 | (0,0,60) | 1 | 1.686 | (0,0,70.024) | 2 | 2.489 | (84.685,0,0) | 3 | 3.201 | (104.684,0,0) |
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