Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots
- Authors
- Lee, Sang-Duck; Ahn, Kuk-Hyun; Song, Jae-Bok
- Issue Date
- 7월-2019
- Publisher
- KOREAN SOC PRECISION ENG
- Keywords
- Human-robot collaboration; Collision safety; Physical interaction tasks; Collaborative robots
- Citation
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.20, no.7, pp.1119 - 1126
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
- Volume
- 20
- Number
- 7
- Start Page
- 1119
- End Page
- 1126
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/64260
- DOI
- 10.1007/s12541-019-00130-z
- ISSN
- 2234-7593
- 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.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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