Author:
Liu Zhiguang, ,Yu Fei,Zhang Liang,Li Tiejun
Abstract
[abstFig src='/00290003/11.jpg' width='300' text='Estimation of robot contact information' ] The real-time estimation of sensorless planar robot contact information is a very important but also difficult subject in human-robot interaction. This paper proposes a method for the real-time estimation of contact location and contact force along a planar joint robot manipulator without using external sensory systems. A momentum-based method is used to estimate external joint torques due to the contact force and to determine a minimum contact range firstly. A nonlinear constrained optimization algorithm is presented to search the contact point. The contact force is calculated by dynamics. The searching space determined by the momentum-based approach is limited within the length range of the contact arm, so the solution speed of the optimization algorithm is high. The proposed method of combining observation algorithm and optimization algorithm transforms a complex detection problem of the any contact point on the robot body into a simple one-dimensional optimization solution with simple bound. The effectiveness of the proposed approach is validated through simulations and experimental results for the planar robot manipulator.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference27 articles.
1. A. D. Luca and F. Flacco, “Collision avoidance, detection, reaction and collaboration,” Proc. of the IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 288-295, 2012.
2. S. J. Lu, J. H. Chung, and S. A. Velinsky, “Human-robot collision detection and identification based on wrist and base force/torque sensors,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3796-3801, 2005.
3. A. D. Santis, B. Siciliano, A. D. Luca, and A. Bicchi, “An atlas of physical human–robot interaction,” Mechanism and Machine Theory, Vol.43, No.3, pp. 253-270, 2007.
4. S. Haddadin, A. Albu-Schäffer, and G. Hirzinger, “Requirements for safe robots: Measurements, analysis and new insight,” The Int. J. of Robotics Research, Vol.28, No.11-12, pp. 1507-1527, 2009.
5. V. J. Lumelsky and E. Cheung, “Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulator,” IEEE Trans. on Systems, Man, and Cybernetics, Vol.23, No.1, pp. 194-203, 1993.
Cited by
6 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献