Sensorless collision detection based on friction model for a robot manipulator

Sang Duck Lee, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

52 Citations (Scopus)


The importance of human-robot collision safety has been increasing recently due to the introduction of collaborative robots. However, conventional collision detection methods usually require additional sensors such as skin sensors, joint torque sensors, and acceleration sensors, which are impractical to implement due to their high cost. To address this problem, in this study we propose a collision detection method using only a manipulator’s encoder without any extra sensors. In the proposed scheme, the external torque due to collision is estimated using a generalized momentum-based observer and a friction torque model in the harmonic drive developed for a robot that is conducting position control. The performance of the proposed collision detection method was evaluated using a 6 DOF industrial manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot manipulator.

Original languageEnglish
Pages (from-to)11-17
Number of pages7
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number1
Publication statusPublished - 2016 Jan 1

Bibliographical note

Funding Information:
This research was supported by Basic Science Research Program through the NRF of Korea funded by the MSIP (No. 2007-0056094) and the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10048980).

Publisher Copyright:
© 2016, Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg.


  • Collision safety
  • Friction torque model
  • Sensorless collision detection

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Sensorless collision detection based on friction model for a robot manipulator'. Together they form a unique fingerprint.

Cite this