A Novel Sliding Mode Momentum Observer for Collaborative Robot Collision Detection

Safety during physical human–robot interaction is the most basic requirement for robots. Collision detection without additional sensors is an economically feasible way to ensure it. In contrast, current collision detection approaches have an unavoidable trade-off between sensitivity to collisions, s...

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Bibliographic Details
Main Authors: Shike Long, Xuanju Dang, Shanlin Sun, Yongjun Wang, Mingzhen Gui
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Machines
Subjects:
Online Access:https://www.mdpi.com/2075-1702/10/9/818