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Human-robot collision detection under modeling uncertainty using frequency boundary of manipulator dynamics

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Abstract

This paper presents the development and experimental evaluation of a collision detection method for robotic manipulators sharing a workspace with humans. Fast and robust collision detection is important for guaranteeing safety and preventing false alarms. The main cause of a false alarm is modeling error. We use the characteristic of the maximum frequency boundary of the manipulator’s dynamic model. The tendency of the frequency boundary’s location in the frequency domain is applied to the collision detection algorithm using a band pass filter (band designed disturbance observer, BdDOB) with changing frequency windows. Thanks to the band pass filter, which considers the frequency boundary of the dynamic model, our collision detection algorithm can extract the collision caused by the disturbance from the mixed estimation signal. As a result, the collision was successfully detected under the usage conditions of faulty sensors and uncertain model data. The experimental result of a collision between a 7-DOF serial manipulator and a human body is reported.

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, Suwon, 440-748, Korea

    Byung-jin Jung, Ja Choon Koo, Hyouk Ryeol Choi & Hyungpil Moon

Authors
  1. Byung-jin Jung
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  2. Ja Choon Koo
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  3. Hyouk Ryeol Choi
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  4. Hyungpil Moon
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Corresponding author

Correspondence to Hyungpil Moon.

Additional information

This paper was presented at the ISR-2013, KINTEX, Seoul, Korea, October 24–26, 2013. Recommended by Guest Editor Byung Kyu Kim

Byung-jin Jung Received his B.S. degree in mechanical engineering from Sungkyunkwan University in 2011. He is currently on the Ph.D. collaboration course in mechanical engineering at Sungkyunkwan University. His research topics are Human-robot collaboration, safe manipulator, low-cost joint torque sensing and hydraulic actuator force control.

Ja Choon Koo Received his B.S. degree from Hanyang University, Seoul, Korea, in 1989, and his M.S. and Ph.D. degrees from the University of Texas, Austin, in 1992 and 1997, respectively. He was the Advisory Engineer of International Machines Corporation (IBM), San Jose, CA, and a Staff Engineer of Samsung Information Systems America, San Jose, CA. He is currently a Professor in the School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea. His current research interests include design, analysis and control of dynamic systems, robotics, sensors and actuators.

Hyouk Ryeol Choi Received his B.S. degree from Seoul National University, Seoul, Korea, in 1984, his M.S. from Korea Advanced Institute of Science and Technology (KAIST), Daejon, Korea, in 1986, and his Ph.D. degree from Pohang University of Science and Technology (POSTECH), Pohang, Korea, in 1994, all in mechanical engineering. From 1986 to 1989, he was an associate Engineer at LG Electronics Central Research Laboratory, Seoul. From 1993 to 1995, he was at Kyoto University, Kyoto, Japan, as a Grantee of a scholarship from the Japanese Educational Ministry. From 2000 to 2001, he visited the Advanced Institute of Industrial Science Technology (AIST), Tsukuba, Japan, as a Japan Society for the Promotion of Sciences (JSPS) Fellow. Since 1995, he has been with Sungkyunkwan University, Suwon, Korea, where he is currently a Professor in the School of Mechanical Engineering. He was an Associate Editor of IEEE Transactions on Robotics (TRO). He is currently an Associate Editor of the Journal of Intelligent Service Robotics, International Journal of Precision Engineering and Manufacturing (IJPEM) and the Editor of International Journal of Control, Automation and Systems (IJCAS). His current research interests include dexterous mechanisms, field application of robots, and soft mechatronics.

Hyungpil Moon Received his B.S. and M.S. degrees in mechanical engineering from Pohang Science and Technology Institute in 1998, and obtained his Ph.D. in mechanical engineering from the University of Michigan, Ann Arbor. He is working as an associate Professor in the department of mechanical engineering at Sungkyunkwan University. His current research topics are robotic manipulation, robot hands, SLAM, hydraulic robots and polymer-based sensors and actuators.

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Jung, Bj., Koo, J.C., Choi, H.R. et al. Human-robot collision detection under modeling uncertainty using frequency boundary of manipulator dynamics. J Mech Sci Technol 28, 4389–4395 (2014). https://doi.org/10.1007/s12206-014-1006-5

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  • DOI: https://doi.org/10.1007/s12206-014-1006-5

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