Abstract
The importance of human-robot collision safety has been increasing recently due to the introduction of collaborative robots. However, conventional collision detection methods usually require additional sensors such as skin sensors, joint torque sensors, and acceleration sensors, which are impractical to implement due to their high cost. To address this problem, in this study we propose a collision detection method using only a manipulator’s encoder without any extra sensors. In the proposed scheme, the external torque due to collision is estimated using a generalized momentum-based observer and a friction torque model in the harmonic drive developed for a robot that is conducting position control. The performance of the proposed collision detection method was evaluated using a 6 DOF industrial manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 11-17 |
| Number of pages | 7 |
| Journal | International Journal of Precision Engineering and Manufacturing |
| Volume | 17 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2016 Jan 1 |
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Keywords
- Collision safety
- Friction torque model
- Sensorless collision detection
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Sensorless collision detection based on friction model for a robot manipulator. / Lee, Sang Duck; Song, Jae-Bok.
In: International Journal of Precision Engineering and Manufacturing, Vol. 17, No. 1, 01.01.2016, p. 11-17.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Sensorless collision detection based on friction model for a robot manipulator
AU - Lee, Sang Duck
AU - Song, Jae-Bok
PY - 2016/1/1
Y1 - 2016/1/1
N2 - The importance of human-robot collision safety has been increasing recently due to the introduction of collaborative robots. However, conventional collision detection methods usually require additional sensors such as skin sensors, joint torque sensors, and acceleration sensors, which are impractical to implement due to their high cost. To address this problem, in this study we propose a collision detection method using only a manipulator’s encoder without any extra sensors. In the proposed scheme, the external torque due to collision is estimated using a generalized momentum-based observer and a friction torque model in the harmonic drive developed for a robot that is conducting position control. The performance of the proposed collision detection method was evaluated using a 6 DOF industrial manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot manipulator.
AB - The importance of human-robot collision safety has been increasing recently due to the introduction of collaborative robots. However, conventional collision detection methods usually require additional sensors such as skin sensors, joint torque sensors, and acceleration sensors, which are impractical to implement due to their high cost. To address this problem, in this study we propose a collision detection method using only a manipulator’s encoder without any extra sensors. In the proposed scheme, the external torque due to collision is estimated using a generalized momentum-based observer and a friction torque model in the harmonic drive developed for a robot that is conducting position control. The performance of the proposed collision detection method was evaluated using a 6 DOF industrial manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot manipulator.
KW - Collision safety
KW - Friction torque model
KW - Sensorless collision detection
UR - http://www.scopus.com/inward/record.url?scp=84954521698&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84954521698&partnerID=8YFLogxK
U2 - 10.1007/s12541-016-0002-3
DO - 10.1007/s12541-016-0002-3
M3 - Article
AN - SCOPUS:84954521698
VL - 17
SP - 11
EP - 17
JO - International Journal of Precision Engineering and Manufacturing
JF - International Journal of Precision Engineering and Manufacturing
SN - 1229-8557
IS - 1
ER -