Sensorless robot collision detection and hybrid force/motion control

  • De Luca A
  • Mattone R
  • 156

    Readers

    Mendeley users who have this article in their library.
  • 118

    Citations

    Citations of this article.

Abstract

We consider the problem of real-time detection of collisions between a robot manipulator and obstacles of unknown geometry and location in the environment without the use of extra sensors. The idea is to handle a collision at a generic point along the robot as a fault of its actuating system. A previously developed dynamic FDI (fault detection and isolation) technique is used, which does not require acceleration or force measurements. The actual robot link that has collided can also be identified. Once contact has been detected, it is possible to switch to a suitably defined hybrid force/motion controller that enables to keep the contact, while sliding on the obstacle, and to regulate the interaction force. Simulation results are shown for a two-link planar robot.

Author-supplied keywords

  • Collision detection
  • Fault detection and isolation
  • Hybrid force/motion control

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free