5 DOF industrial robot arm for safe human-robot collaboration

Seung Woo Song, Sang Duck Lee, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Collision safety is very important when it comes to human-robot collaboration. However, most of the industrial robots are equipped with large capacity motors for high performance, which on the contrary, increases risk of injuries caused by collision between humans and robots. For this reason, collaboration with common industrial robots has been restricted unless the robots are isolated from workers. To address this problem, in this study we propose a safe collaborative robot arm equipped with the counterbalance mechanism (CBM) and sensorless collision detection method. Furthermore, the sensorless collision detection scheme includes the reaction scheme in case of collisions without the use of any expensive sensors. The performance of the proposed CBM and collision detection method was evaluated based on simulations and experiments, respectively. The simulation and experimental results show that it is possible to operate the robot even with only small capacity motors while maintaining its performance, and collision can be reliably detected without any extra sensors for any type of robot manipulator.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings
EditorsHonghai Liu, Dalin Zhou, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann
PublisherSpringer Verlag
Number of pages9
ISBN (Print)9783319228754
Publication statusPublished - 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: 2015 Aug 242015 Aug 27

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
Country/TerritoryUnited Kingdom


  • Collaboration
  • Collision detection
  • Counterbalance
  • Robot arm

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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