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)