Collision detection algorithm for collaborative robots considering joint friction
This article proposes a collision detection algorithm without external sensors that can detect potential collisions in man–robot interaction. The algorithm is based on a modified first-order momentum deviation observer that also takes friction into account. The collision detection algorithm uses joi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418788992 |