Collision detection system for manipulator based on adaptive impedance control law

Shinya Morinaga, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

66 Citations (Scopus)

Abstract

In this paper, we propose a collision detection system based on a nonlinear adaptive impedance control law. The collision detection system detects collisions of a manipulator with its environment without using external sensors. The adaptive impedance control law is employed to estimate the dynamic parameters of the manipulator, and allows the manipulator to have interaction with its environment. The system detects collisions based on the difference between the actual input torque to the manipulator and the reference input torque, which is calculated based on the estimated parameters of the manipulator dynamics. The manipulator stops when a collision is detected. The proposed collision detection system is implemented in an industrial manipulator and experimental results illustrate the validity of the proposed system.

Original languageEnglish
Pages (from-to)1080-1085
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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