Collision detection for safe human-robot cooperation of a redundant manipulator

Sang Duck Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Human-robot cooperation have a potential risk of collision between a human and a robot, and collision detection is one of the most practical solutions to ensure human safety during this cooperation. However, collisions during human-robot cooperation cannot be reliably detected using conventional collision detection methods because collision forces and intended interaction forces cannot be distinguished from each other. In this study, we propose a collision detection method that can be used to distinguish collisions from intended task force at the end-effector. To this end, we developed a collision detection index that is decoupled from the intended external force applied for human-robot cooperation. The proposed method was verified through several experiments, and experimental results show that collisions can be detected regardless of the presence of physical contact between humans and robots for cooperation.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages591-593
Number of pages3
ISBN (Print)9788993215069
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 2014 Oct 222014 Oct 25

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period14/10/2214/10/25

Fingerprint

Redundant manipulators
Robots
End effectors
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, S. D., & Song, J-B. (2014). Collision detection for safe human-robot cooperation of a redundant manipulator. In International Conference on Control, Automation and Systems (pp. 591-593). [6987848] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987848

Collision detection for safe human-robot cooperation of a redundant manipulator. / Lee, Sang Duck; Song, Jae-Bok.

International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 591-593 6987848.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SD & Song, J-B 2014, Collision detection for safe human-robot cooperation of a redundant manipulator. in International Conference on Control, Automation and Systems., 6987848, IEEE Computer Society, pp. 591-593, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 14/10/22. https://doi.org/10.1109/ICCAS.2014.6987848
Lee SD, Song J-B. Collision detection for safe human-robot cooperation of a redundant manipulator. In International Conference on Control, Automation and Systems. IEEE Computer Society. 2014. p. 591-593. 6987848 https://doi.org/10.1109/ICCAS.2014.6987848
Lee, Sang Duck ; Song, Jae-Bok. / Collision detection for safe human-robot cooperation of a redundant manipulator. International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. pp. 591-593
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