TY - GEN
T1 - Dynamic collision detection method using adaptive control law
AU - Matsumoto, T.
AU - Kosuge, K.
N1 - Funding Information:
In this article, we will introduce research activities concerning lung cancer screening using CT units supported by the Network-Conference of Division of Advanced Technology for Medical Imaging, the National Institute of Radiological Sciences, which is administrated by the Science and Technology\Agency of the Japanese Government. We suggested detecting small tumors at an early stage by Lung cancer Screening CT (named LSCT) (Y. TATENO, T. IINUMA et al., Sin-lryo, 10: 28-32, 1990; in Japanese). In 1992, we developed a low-dose CT unit (tube current: 3 mA-140 tnA) for LSCT. In 1994, we developed a vehicle equipped with an LSCT and initiated a study of lung cancer screening system with an LSCT.
Publisher Copyright:
© 2000 IEEE.
PY - 2000
Y1 - 2000
N2 - In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme.
AB - In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme.
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U2 - 10.1109/IECON.2000.972346
DO - 10.1109/IECON.2000.972346
M3 - Conference contribution
AN - SCOPUS:84969286717
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2243
EP - 2248
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -