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.
| Original language | English |
|---|---|
| Pages (from-to) | 1119-1126 |
| Number of pages | 8 |
| Journal | International Journal of Precision Engineering and Manufacturing |
| Volume | 20 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2019 Jul 1 |
Bibliographical note
Funding Information:This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10063413) and a grant from R&D Program of the Korea Railroad Research Institute, Republic of Korea.
Publisher Copyright:
© 2019, Korean Society for Precision Engineering.
Keywords
- Collaborative robots
- Collision safety
- Human–robot collaboration
- Physical interaction tasks
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering