Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots

Sang Duck Lee, Kuk Hyun Ahn, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


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 languageEnglish
Pages (from-to)1119-1126
Number of pages8
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number7
Publication statusPublished - 2019 Jul 1

Bibliographical note

Publisher Copyright:
© 2019, Korean Society for Precision Engineering.


  • Collaborative robots
  • Collision safety
  • Human–robot collaboration
  • Physical interaction tasks

ASJC Scopus subject areas

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


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