Approach to collision detection and recovery motion in industrial robot

Shinji Takakura, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

54 被引用数 (Scopus)

抄録

The authors describe a method of collision detection and the following continued avoidance motion. In an industrial robot, if there is an unknown obstacle on the trajectory, it is required to detect the collision against the obstacle and to avoid it autonomously. In the proposed method, an extra sensor such as the tactile sensor or the visual sensor for detecting the collision is not necessary. Instead of these sensors, the collision is detected by the signal of the disturbance observer. The algorithm for how the robot knows the collision is coming and avoids the obstacle is shown. This algorithm is simple and easy to apply to the robot controller. Several experimental results are shown.

本文言語English
ページ421-426
ページ数6
出版ステータスPublished - 1989 12月 1
イベント15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
継続期間: 1989 11月 61989 11月 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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