지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.6
- 수록면
- 111 - 116 (6page)
이용수
초록· 키워드
오류제보하기
Human-robot co-operation becomes increasingly frequent due to the widespread use of service robots. However, during such co-operation, robots have a high chance of colliding with humans, which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, and among them, collision detection algorithms are regarded as one of the most practical solutions. They allow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimize the impact. However, conventional collision detection algorithms required the precise model of a robot, which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors, are often required. In this study, we propose a novel collision detection algorithm which only requires motor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verified through various tests.
목차
Abstract
1. 서론
2. 충돌 감지 알고리즘
3. 실험 결과
4. 결론
References
참고문헌 (12)
참고문헌 신청
1. [학술대회논문] - S. Morikawa / 2007 / Real-time collision avoidance using a robot manipulator with Light-weight small high-speed vision system / Proc. of the IEEE Int. Conf. on Robotics and Automation : 794 ~ 799
2. [학술지(정기간행물)] - J. J. Park / 2010 / A nonlinear stiffness safe joint mechanism design for human robot interactions / ASME Journal of Mechanical Design 132 (6) : 061005-1 ~ 061005-8
3. [학술지(정기간행물)] - B. S. Kim / 2010 / A serial-type dual actuator unit with planetary gear train: basic design and applications / IEEE/ASME Transactions on Mechatronics 15 (1) : 108 ~ 116
4. [학술대회논문] - G. Tonietti / 2005 / Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction / Proc. of the IEEE Int. Conf. on Robotics and Automation : 526 ~ 531
5. [학술대회논문] - S. Takakura / 1989 / An approach to collision detection and recovery motion in industrial robot / Proc. of 15th Annual Conf. of IEEE Industrial Electronics Society : 421 ~ 426
2. [학술지(정기간행물)] - J. J. Park / 2010 / A nonlinear stiffness safe joint mechanism design for human robot interactions / ASME Journal of Mechanical Design 132 (6) : 061005-1 ~ 061005-8
3. [학술지(정기간행물)] - B. S. Kim / 2010 / A serial-type dual actuator unit with planetary gear train: basic design and applications / IEEE/ASME Transactions on Mechatronics 15 (1) : 108 ~ 116
4. [학술대회논문] - G. Tonietti / 2005 / Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction / Proc. of the IEEE Int. Conf. on Robotics and Automation : 526 ~ 531
5. [학술대회논문] - S. Takakura / 1989 / An approach to collision detection and recovery motion in industrial robot / Proc. of 15th Annual Conf. of IEEE Industrial Electronics Society : 421 ~ 426
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UCI(KEPA) : I410-ECN-0101-2020-559-001258315