Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis

Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis

Robot manipulators should be able to quickly detect collisions to limit damage due to physical contact. Traditional model-based detection methods in robotics are mainly concentrated on the difference between the estimated and actual applied torque. In this paper, a model independent collision detect...

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Bibliographic Details
Main Authors: Feiyan Min, Gao Wang, Ning Liu
Format: Article
Language:English
Published: MDPI AG 2019-03-01
Series:Sensors
Subjects:
manipulator
model independent method
collision detection
collision identification
vibration analysis
artificial neural network
Online Access:http://www.mdpi.com/1424-8220/19/5/1080

Internet

http://www.mdpi.com/1424-8220/19/5/1080

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