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- Publisher Website: 10.1109/ROBOT.2003.1241736
- Scopus: eid_2-s2.0-0345307645
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Conference Paper: Collision detection system for manipulator based on adaptive impedance control law
Title | Collision detection system for manipulator based on adaptive impedance control law |
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Authors | |
Issue Date | 2003 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2003, v. 1, p. 1080-1085 How to Cite? |
Abstract | In this paper, we propose a collision detection system based on a nonlinear adaptive impedance control law. The collision detection system detects collisions of a manipulator with its environment without using external sensors. The adaptive impedance control law is employed to estimate the dynamic parameters of the manipulator, and allows the manipulator to have interaction with its environment. The system detects collisions based on the difference between the actual input torque to the manipulator and the reference input torque, which is calculated based on the estimated parameters of the manipulator dynamics. The manipulator stops when a collision is detected. The proposed collision detection system is implemented in an industrial manipulator and experimental results illustrate the validity of the proposed system. |
Persistent Identifier | http://hdl.handle.net/10722/302721 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Morinaga, Shinya | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:27Z | - |
dc.date.available | 2021-09-07T08:42:27Z | - |
dc.date.issued | 2003 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2003, v. 1, p. 1080-1085 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302721 | - |
dc.description.abstract | In this paper, we propose a collision detection system based on a nonlinear adaptive impedance control law. The collision detection system detects collisions of a manipulator with its environment without using external sensors. The adaptive impedance control law is employed to estimate the dynamic parameters of the manipulator, and allows the manipulator to have interaction with its environment. The system detects collisions based on the difference between the actual input torque to the manipulator and the reference input torque, which is calculated based on the estimated parameters of the manipulator dynamics. The manipulator stops when a collision is detected. The proposed collision detection system is implemented in an industrial manipulator and experimental results illustrate the validity of the proposed system. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Collision detection system for manipulator based on adaptive impedance control law | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2003.1241736 | - |
dc.identifier.scopus | eid_2-s2.0-0345307645 | - |
dc.identifier.volume | 1 | - |
dc.identifier.spage | 1080 | - |
dc.identifier.epage | 1085 | - |