Collision detection of manipulator based on adaptive control law

In this paper, we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li (1988). The collision of a manipulator with its environment is detected by the difference between the actual input torques to the manipulator and the reference input torques calculated based on the manipulator dynamics. An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator. The reference input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the experimental results illustrate the validity of the proposed scheme.

[1]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[2]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .

[3]  Kazuhiro Kosuge,et al.  Robot-human collaboration for new robotic applications , 1994, Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics.

[4]  Yoji Yamada,et al.  Human-robot contact in the safeguarding space , 1997 .

[5]  O. Brock,et al.  Robots in Human Environments: Basic Autonomous Capabilities , 1999, Int. J. Robotics Res..

[6]  Paolo Fiorini,et al.  Navigating a Robotic Wheelchair in a Railway Station during Rush Hour , 1999, Int. J. Robotics Res..

[7]  Kazuhiro Kosuge,et al.  Dynamic collision detection method using adaptive control law , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.