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)