다중 센서 융합을 이용한 로봇 매니퓰레이터의 모멘텀 충돌 관측기 = Momentum based Collision Detection Algorithm for Robot Manipulators using Multi-Sensor Fusion

다국어 초록 (Multilingual Abstract)

In this paper, we propose a multi-sensor-based collision detection algorithm for free and contact situations. The important characteristics of this collision detection algorithm include correctness, fast detection, and versatility. An appropriate combination of suitable multiple sensors such as encoders, force/torque sensors, and accelerometers can be used to improve the proposed collision detection algorithm in terms of these characteristics. Moreover, the dynamic parameters of a robot manipulator must be modeled accurately to obtain better estimates of any possible torque deviation caused by a collision. We employ the torque separation technique that allows us to estimate the dynamic parameters separately, and thus, to increase the robustness of parameter estimation. A momentum- residual-based collision observer with additional information from a force/torque sensor and a set of accelerometers is designed to enhance collision detection. When a robot manipulator holds an object, the effect of the object on the robot dynamics should be considered by using force/torque sensor information. The reactivity of collision detection time and the identifiability of blind spots and collision directions are enhanced using cheap accelerometers. The proposed algorithm is verified by employing a six-axis industrial robot manipulator.

다국어 초록 (Multilingual Abstract)

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참고문헌 (Reference)

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