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)

    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 languageEnglish
    Pages (from-to)1119-1126
    Number of pages8
    JournalInternational Journal of Precision Engineering and Manufacturing
    Volume20
    Issue number7
    DOIs
    Publication statusPublished - 2019 Jul 1

    Bibliographical note

    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

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