Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Sang-Duck | - |
dc.contributor.author | Ahn, Kuk-Hyun | - |
dc.contributor.author | Song, Jae-Bok | - |
dc.date.accessioned | 2021-09-01T12:53:33Z | - |
dc.date.available | 2021-09-01T12:53:33Z | - |
dc.date.created | 2021-06-19 | - |
dc.date.issued | 2019-07 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/64260 | - |
dc.description.abstract | In recent years, various collision detection methods have been proposed for safe human-robot collaboration; these methods are usually model-based. However, most tasks conducted by collaborative robots involve a physical robot-environment interaction, and it is very difficult to design a model of such interaction that varies depending on the external environment. Therefore, this study proposes a method for detecting collision between a human and a robot while the robot executes a task involving physical interaction with an unknown environment. To this end, a collision detection index is suggested based on the subspace projection technique. The proposed collision detection scheme is verified experimentally using a 7-DOF robot arm, and the experimental results show that collisions can be detected reliably by the proposed method. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.subject | FAULT-DETECTION | - |
dc.subject | CONTACT | - |
dc.subject | DIAGNOSIS | - |
dc.title | Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, Jae-Bok | - |
dc.identifier.doi | 10.1007/s12541-019-00130-z | - |
dc.identifier.scopusid | 2-s2.0-85068603642 | - |
dc.identifier.wosid | 000474397000005 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.20, no.7, pp.1119 - 1126 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 20 | - |
dc.citation.number | 7 | - |
dc.citation.startPage | 1119 | - |
dc.citation.endPage | 1126 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002487941 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | FAULT-DETECTION | - |
dc.subject.keywordPlus | CONTACT | - |
dc.subject.keywordPlus | DIAGNOSIS | - |
dc.subject.keywordAuthor | Human-robot collaboration | - |
dc.subject.keywordAuthor | Collision safety | - |
dc.subject.keywordAuthor | Physical interaction tasks | - |
dc.subject.keywordAuthor | Collaborative robots | - |
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