Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
De Luca, Alessandro and Albu-Schäffer, Alin and Haddadin, Sami and Hirzinger, Gerhard (2006) Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. In: Proceedings IROS 2006, pp. 1623-1630. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.
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A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing, relative motions between robot and human are not predictable and unexpected collisions may occur at any location along the robot arm. Based on physical quantities such as total energy and generalized momentum of the robot manipulator, we present an efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision. The approach is first developed for rigid robot arms and then extended to the case of robots with elastic joints, proposing different reaction strategies. Experimental results on collisions with the DLR-III lightweight manipulator are reported.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.|
|Date:||09 October 2006|
|Journal or Publication Title:||Proceedings IROS 2006|
|In ISI Web of Science:||No|
|Page Range:||pp. 1623-1630|
|Keywords:||Collision Detection, Safe Reaction, Lightweight Manipulator Arm|
|Event Title:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Event Location:||Beijing, China|
|Event Type:||international Conference|
|Event Dates:||2006-10-09 - 2006-10-15|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Gabriele Beinhofer|
|Deposited On:||27 Oct 2008|
|Last Modified:||27 Apr 2009 13:15|
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