Collision detection algorithm robust to model uncertainty
- 243 Downloads
With the widespread use of service robots, safety issues regarding human-robot collisions have received increasing attention. The collision detection algorithm, which allows a robot to effectively detect and react against a collision, is considered as one of the most practical solutions for ensuring collision safety. However, these algorithms are often model-based, so it cannot ensure collision safety under payload variations or model uncertainty. In this paper, a novel collision detection algorithm based on torque filtering is proposed to cope with this problem. The torque due to the motion of the robot can be effectively removed using the Butterworth 2nd-order BPF (band pass filter) so that only the torque due to a collision is used for collision detection. This improves the robustness of the algorithm against model uncertainties. The proposed algorithm does not require the use of acceleration data. The performance of the algorithm was experimentally verified.
KeywordsBand pass filter collision detection collision safety torque filtering
Unable to display preview. Download preview PDF.
- S. Morikawa, T. Senoo, A. Namiki, and M. Ishikawa, “Realtime collision avoidance using a robot manipulator with light-weight high-speed vision system,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 794–799, 2007.Google Scholar
- S. Takakura, T. Murakami, and K. Ohnishi, “An approach to collision detection and recovery motion in industrial robot,” Proc. of 15th Int. Conf. on Advanced Robotics, pp. 421–426, 1989.Google Scholar
- A. De Luca, A. Albu-Schaffer, S. Haddadin, and G. Hirzinger, “Collision detection and safe reaction with the DLR-III lightweight manipulator arm,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, pp. 1623–1630, 2006.Google Scholar
- A. De Luca and R. Mattone, “An adapt-and-detect actuator FDI scheme for robot manipulators,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 4975–4980, 2004.Google Scholar
- J. H. Kim, Y. L. Kim, and J. B. Song, “Collision detection algorithm to distinguish between intended contact and unexpected collision,” Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligence, pp. 221–224, 2010.Google Scholar
- S. Haddadin, A. Albu-Schaffer, and G. Hirzinger, “Safety evaluation of physical human-robot interaction via crash-testing,” in Robotics: Science and System Conf., pp. 217–224, 2007.Google Scholar