Collision detection and reaction on 7 DOF service robot arm using residual observer

Chang Nho Cho, Joon Hong Kim, Sang Duck Lee, Jae Bok Song

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

The use of robots in service and manufacturing industries has increased significantly in past decades. These robots share the same workspace with humans, so physical interactions between humans and robots occur. Thus, collision between a human and a robot is inevitable during these interactions, and safety measures must be provided to protect humans. In this study, a disturbance observer based on generalized momentum is proposed to efficiently detect a collision. The proposed algorithm of the disturbance observer allows any multi-DOF robot to effectively detect a collision without the use of additional sensors or mechanisms. Once a collision is detected, the robot can perform the appropriate reaction to minimize the impact on the human and the robot. Several reaction strategies are proposed for different situations. The proposed algorithm was implemented on a 7 DOF robot arm to verify its performance. Furthermore, the proposed reaction strategies were also demonstrated using the same robot arm.

Original languageEnglish
Pages (from-to)1197-1203
Number of pages7
JournalJournal of Mechanical Science and Technology
Volume26
Issue number4
DOIs
Publication statusPublished - 2012 Apr

Keywords

  • Collision detection
  • Disturbance observer
  • Joint torque sensor
  • Safety

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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