Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots
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 suc...
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| Published in | International journal of precision engineering and manufacturing Vol. 20; no. 7; pp. 1119 - 1126 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Seoul
Korean Society for Precision Engineering
01.07.2019
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2234-7593 2005-4602 |
| DOI | 10.1007/s12541-019-00130-z |
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| 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. |
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| AbstractList | 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. |
| Author | Song, Jae-Bok Lee, Sang-Duck Ahn, Kuk-Hyun |
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| Keywords | Collision safety Physical interaction tasks Human–robot collaboration Collaborative robots |
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| SubjectTerms | Collaboration Engineering Industrial and Production Engineering Materials Science Regular Paper Robot arms Robots Unknown environments |
| Title | Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots |
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