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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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Abstract

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.
Authors:
AuthorsInstitution or Email of Authors
De Luca, AlessandroUniversita di Roma “La Sapienza”
Albu-Schäffer, AlinUNSPECIFIED
Haddadin, SamiUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings IROS 2006
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1623-1630
Status:Published
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
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
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)
Location: Oberpfaffenhofen
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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