Real Time Collision Detection and Identification for Robotic Manipulators

2018/02/02 by Elena Galbally, Galbally, Elena, Mikael Jorda +1
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO

paper · pdf · doi:10.48550/arxiv.1802.00546

6 pages, 8 figures

arxiv created 2018/02/02 · arxiv updated 2018/02/05

Abstract

The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to localize a contact point and estimate the external force. We demonstrate the capability of the particle filter on a simulated 4DoF planar robotic arm, and compare it to a well-established analytical approach.

Related

• Collision detection and identification for a legged manipulator
• Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration
• Pose estimation for planar contact manipulation with manifold particle filters
• Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors
• SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution