Collision detection of manipulator based on adaptive control law

T. Matsumoto, K. Kosuge

Research output: Contribution to conferencePaperpeer-review

26 Citations (Scopus)

Abstract

In this paper, we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li. The collision of a manipulator with its environment is detected by the difference between the actual input torques to the manipulator and the reference input torques calculated based on the manipulator dynamics. An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator. The reference input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the experimental results illustrate the validity of the proposed scheme.

Original languageEnglish
Pages177-182
Number of pages6
Publication statusPublished - 2001 Jan 1
Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
Duration: 2001 Jul 82001 Jul 12

Other

Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
CountryItaly
CityComo
Period01/7/801/7/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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