Novel collision detection index based on joint torque sensors for a redundant manipulator

Sang Duck Lee, Young Loul Kim, Jae-Bok Song

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

6 Citations (Scopus)

Abstract

Human-robot collision has drawn increasing attention in recent years and collision safety can be improved by successfully detecting collisions between a human and a robot. For a manipulator working in human environments, collisions usually occur at the manipulator body while the robot performs a contact task using its end-effector to interact with the environment. Therefore, both collision force and the force on the end-effector contribute to the external torques which can be estimated from the robot dynamics and the joint torques measured by the joint torque sensors, which means whether or not a collision has occurred cannot be reliably determined using this estimation. In this study, we propose a novel collision detection index to detect collisions independently of the end-effector force of a redundant manipulator equipped with joint torque sensors. Using the null space projection of a redundant manipulator, the collision detection index can be expressed as a function of the torque generated by a collision and the manipulator configuration. The proposed index is verified through various simulations. Simulation results show that collisions can be reliably detected regardless of the presence of the end-effector forces even in situations with external torques contaminated by substantial error.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages4636-4641
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

Fingerprint

Redundant manipulators
Torque
End effectors
Sensors
Robots
Manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Lee, S. D., Kim, Y. L., & Song, J-B. (2013). Novel collision detection index based on joint torque sensors for a redundant manipulator. In IEEE International Conference on Intelligent Robots and Systems (pp. 4636-4641). [6697023] https://doi.org/10.1109/IROS.2013.6697023

Novel collision detection index based on joint torque sensors for a redundant manipulator. / Lee, Sang Duck; Kim, Young Loul; Song, Jae-Bok.

IEEE International Conference on Intelligent Robots and Systems. 2013. p. 4636-4641 6697023.

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

Lee, SD, Kim, YL & Song, J-B 2013, Novel collision detection index based on joint torque sensors for a redundant manipulator. in IEEE International Conference on Intelligent Robots and Systems., 6697023, pp. 4636-4641, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 13/11/3. https://doi.org/10.1109/IROS.2013.6697023
Lee SD, Kim YL, Song J-B. Novel collision detection index based on joint torque sensors for a redundant manipulator. In IEEE International Conference on Intelligent Robots and Systems. 2013. p. 4636-4641. 6697023 https://doi.org/10.1109/IROS.2013.6697023
Lee, Sang Duck ; Kim, Young Loul ; Song, Jae-Bok. / Novel collision detection index based on joint torque sensors for a redundant manipulator. IEEE International Conference on Intelligent Robots and Systems. 2013. pp. 4636-4641
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