속도 오차 기반의 충돌 감지 알고리즘
Collision Detection Algorithm based on Velocity Error
1
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
Human-robot co-operation becomes increasingly frequent due to the widespread use ofservice robots. However, during such co-operation, robots have a high chance of colliding with humans,which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, andamong them, collision detection algorithms are regarded as one of the most practical solutions. Theyallow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimizethe impact. However, conventional collision detection algorithms required the precise model of a robot,which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors,are often required. In this study, we propose a novel collision detection algorithm which only requiresmotor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verifiedthrough various tests.
Abstract
Human-robot co-operation becomes increasingly frequent due to the widespread use ofservice robots. However, during such co-operation, robots have a high chance of colliding with humans,which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, andamong them, collision detection algorithms are regarded as one of the most practical solutions. Theyallow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimizethe impact. However, conventional collision detection algorithms required the precise model of a robot,which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors,are often required. In this study, we propose a novel collision detection algorithm which only requiresmotor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verifiedthrough various tests.
참고문헌 (11)
- S. Morikawa, "Real-time collision avoidance using a robot manipulator with Light-weight small high-speed vision system", Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.794~799 (2007)
- J. J. Park, "A nonlinear stiffness safe joint mechanism design for human robot interactions", ASME Journal of Mechanical Design, 132(6), pp.061005-1~061005-8 (2010)
- B. S. Kim, "A serial-type dual actuator unit with planetary gear train: basic design and applications", IEEE, 2010, pp.15(1), 108~116
- G. Tonietti, "Design and control of a variable stiffness actuator for safe and fast physical human", robot interaction, 2005, 526~531
- S. Takakura, "An approach to collision detection and recovery motion in industrial robot", Proc. of 15th Annual Conf. of IEEE Industrial Electronics Society, pp.421~426 (1989)
- 윤성민, "슬라이딩 섭동 관측기를 이용한 수술용 로봇 인스트루먼트의 반력 추정 가능성 평가", 로봇학회 논문지, 7(1), pp.20~28 (2012), 한국로봇학회
- A. De Luca, "Collision detection and safe reaction with the DLR-III lightweight manipulator arm", Proc. of the IEEE, 2006, 1623~1630
- A. Albu-Schaffer, "Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot", Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.2852~2858 (2001)
- 최영진, "모멘텀을 이용한 로봇 동역학 파라미터 식별", 로봇학회 논문지, 7(3), pp.222~230 (2012), 한국로봇학회[DOI]
- A. De Luca, "An adapt-and-detect actuator FDI scheme for robot manipulators", Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.4875~4980 (2004)
- S. Haddadin, "Safety evaluation of physical human-robot interaction via crashtesting", Robotics: Science and Systems Conf., pp.217~224 (2007)