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

18 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 1

Fingerprint

Robots
Momentum
Sensors
Industry

Keywords

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

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials

Cite this

Collision detection and reaction on 7 DOF service robot arm using residual observer. / Cho, Chang Nho; Kim, Joon Hong; Lee, Sang Duck; Song, Jae-Bok.

In: Journal of Mechanical Science and Technology, Vol. 26, No. 4, 01.04.2012, p. 1197-1203.

Research output: Contribution to journalArticle

Cho, Chang Nho ; Kim, Joon Hong ; Lee, Sang Duck ; Song, Jae-Bok. / Collision detection and reaction on 7 DOF service robot arm using residual observer. In: Journal of Mechanical Science and Technology. 2012 ; Vol. 26, No. 4. pp. 1197-1203.
@article{458f7b5e34874db0b16ad426b41f8328,
title = "Collision detection and reaction on 7 DOF service robot arm using residual observer",
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.",
keywords = "Collision detection, Disturbance observer, Joint torque sensor, Safety",
author = "Cho, {Chang Nho} and Kim, {Joon Hong} and Lee, {Sang Duck} and Jae-Bok Song",
year = "2012",
month = "4",
day = "1",
doi = "10.1007/s12206-012-0230-0",
language = "English",
volume = "26",
pages = "1197--1203",
journal = "Journal of Mechanical Science and Technology",
issn = "1738-494X",
publisher = "Korean Society of Mechanical Engineers",
number = "4",

}

TY - JOUR

T1 - Collision detection and reaction on 7 DOF service robot arm using residual observer

AU - Cho, Chang Nho

AU - Kim, Joon Hong

AU - Lee, Sang Duck

AU - Song, Jae-Bok

PY - 2012/4/1

Y1 - 2012/4/1

N2 - 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.

AB - 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.

KW - Collision detection

KW - Disturbance observer

KW - Joint torque sensor

KW - Safety

UR - http://www.scopus.com/inward/record.url?scp=84859629774&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859629774&partnerID=8YFLogxK

U2 - 10.1007/s12206-012-0230-0

DO - 10.1007/s12206-012-0230-0

M3 - Article

AN - SCOPUS:84859629774

VL - 26

SP - 1197

EP - 1203

JO - Journal of Mechanical Science and Technology

JF - Journal of Mechanical Science and Technology

SN - 1738-494X

IS - 4

ER -