Abstract
A collision detection approach for torque-controlled manipulators is proposed to detect and isolate a collision in an unknown environment without using external sensors. A set of artificial indexes physically representing instantaneous powers are introduced. A contact link can be detected and isolated by finding the smallest power index based on full knowledge of the link parameters. However, it is difficult to precisely obtain the link parameters. Therefore, we propose a robust way in which the collision detection and isolation processes are separated. A collision can be detected by comparing a power-based index with a unique threshold, and a contact link can be isolated by comparing power indexes without any additional threshold. The statistical simulation results using a 6 degree of freedom (DOF) spatial manipulator show the performance of the proposed approach in an ideal situation. Furthermore, the statistical experimental results using the 2- and 3-DOF planar manipulators validate the robustness of the proposed approach.
| Original language | English |
|---|---|
| Pages (from-to) | 1209-1224 |
| Number of pages | 16 |
| Journal | Advanced Robotics |
| Volume | 33 |
| Issue number | 23 |
| DOIs | |
| Publication status | Published - 2 Dec 2019 |
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Keywords
- Collision detection
- collision isolation
- robotic interactions
- safe robots
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A force-sensorless approach to collision detection based on virtual powers. / Qiu, Zhe; Ozawa, Ryuta; Ma, Shugen.
In: Advanced Robotics, Vol. 33, No. 23, 02.12.2019, p. 1209-1224.Research output: Contribution to journal › Article
TY - JOUR
T1 - A force-sensorless approach to collision detection based on virtual powers
AU - Qiu, Zhe
AU - Ozawa, Ryuta
AU - Ma, Shugen
PY - 2019/12/2
Y1 - 2019/12/2
N2 - A collision detection approach for torque-controlled manipulators is proposed to detect and isolate a collision in an unknown environment without using external sensors. A set of artificial indexes physically representing instantaneous powers are introduced. A contact link can be detected and isolated by finding the smallest power index based on full knowledge of the link parameters. However, it is difficult to precisely obtain the link parameters. Therefore, we propose a robust way in which the collision detection and isolation processes are separated. A collision can be detected by comparing a power-based index with a unique threshold, and a contact link can be isolated by comparing power indexes without any additional threshold. The statistical simulation results using a 6 degree of freedom (DOF) spatial manipulator show the performance of the proposed approach in an ideal situation. Furthermore, the statistical experimental results using the 2- and 3-DOF planar manipulators validate the robustness of the proposed approach.
AB - A collision detection approach for torque-controlled manipulators is proposed to detect and isolate a collision in an unknown environment without using external sensors. A set of artificial indexes physically representing instantaneous powers are introduced. A contact link can be detected and isolated by finding the smallest power index based on full knowledge of the link parameters. However, it is difficult to precisely obtain the link parameters. Therefore, we propose a robust way in which the collision detection and isolation processes are separated. A collision can be detected by comparing a power-based index with a unique threshold, and a contact link can be isolated by comparing power indexes without any additional threshold. The statistical simulation results using a 6 degree of freedom (DOF) spatial manipulator show the performance of the proposed approach in an ideal situation. Furthermore, the statistical experimental results using the 2- and 3-DOF planar manipulators validate the robustness of the proposed approach.
KW - Collision detection
KW - collision isolation
KW - robotic interactions
KW - safe robots
UR - http://www.scopus.com/inward/record.url?scp=85074828623&partnerID=8YFLogxK
U2 - 10.1080/01691864.2019.1686420
DO - 10.1080/01691864.2019.1686420
M3 - Article
AN - SCOPUS:85074828623
VL - 33
SP - 1209
EP - 1224
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 23
ER -