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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2003 12 9|
|イベント||2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China|
継続期間: 2003 9 14 → 2003 9 19
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