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Influence of Unmodelled External Forces on the Quality of Collision Detection

Conference paper
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Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 980)

Abstract

Physical Human-Robot Interaction requires collision detection to enable a safe sharing of workspace between humans and robots, mostly using model based algorithms. Majority of robot tasks involve physical interaction with the environment, and consequently the forces occurring during the interaction. This paper presents an experimental testing of influence of unmodelled but intentional forces on the quality of collision detection algorithms. Results from testing of different manipulation and assembly tasks are shown and discussed in terms of their significance to collision detection and similarity with real collisions. Presented results and conclusions from this paper may serve as guidelines for future collision detection related work by offering a better understanding and insight on the relevance of intentional external forces.

Keywords

Physical Human-Robot Interaction Collision detection Industrial robot 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversity of BelgradeBelgradeSerbia

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