속도 오차 기반의 충돌 감지 알고리즘Collision Detection Algorithm based on Velocity Error
- Other Titles
- Collision Detection Algorithm based on Velocity Error
- Authors
- 조창노; 이상덕; 송재복
- Issue Date
- 2014
- Publisher
- 한국로봇학회
- Keywords
- Collision Detection; Physical Human-Robot Interaction; Robot Safety
- Citation
- 로봇학회 논문지, v.9, no.2, pp.111 - 116
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 9
- Number
- 2
- Start Page
- 111
- End Page
- 116
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/100415
- DOI
- 10.7746/jkros.2014.9.2.111
- ISSN
- 1975-6291
- Abstract
- Human-robot co-operation becomes increasingly frequent due to the widespread use ofservice robots. However, during such co-operation, robots have a high chance of colliding with humans,which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, andamong them, collision detection algorithms are regarded as one of the most practical solutions. Theyallow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimizethe impact. However, conventional collision detection algorithms required the precise model of a robot,which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors,are often required. In this study, we propose a novel collision detection algorithm which only requiresmotor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error.
The proposed algorithm can be easily implemented to any robots, and its performance was verifiedthrough various tests.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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