Research Article
Collision Sensing Using Force/Torque Sensor
Table 1
Parameters of manipulator.
| Name | Quality (Kg) | Position of gravity center in local coordinate (mm) |
| Link 0 | 1.629 | (0, 0, 60) | Link 1 | 1.786 | (0, 0, 69.995) | Link 2 | 2.565 | (86.256, 0, 0) | Link 3 | 3.180 | (106.906, 0, 0) |
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