Development of Joint Controller and Collision Detection Methods for Series Elastic Manipulator of Relief Robot

Jung, Bongjin; Researcher, Keti; Kim, Taekeun; Won, Geon; Kim, Dong Sup; Hwang, Junghun

doi:10.7746/jkros.2018.13.3.157

Cited by 1 publication

(1 citation statement)

References 8 publications

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“…Collision detection or collision contact avoidance during the collision has become a hot research topic at present (Yang et al , 2019; Gierlak and Szuster, 2017; Lee et al , 2019; Sim et al , 2017). Collision contact may increase the vibration and system in stability, especially considering the different contact modes and dynamic modelling (Heinzmann and Zelinsky, 2003; Schneider and Frank, 1996; Jung et al , 2018;) .…”

Section: Introductionmentioning

confidence: 99%

Collision detection and force control based on the impedance approach and dynamic modelling

Wang

Zhang

2019

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Purpose This paper aims to address the collision problem between robot and the external environment (including human) in an unstructured situation. A new collision detection and torque optimization control method is proposed. Design/methodology/approach Firstly, when the collision appears, a second-order Taylor observer is proposed to estimate the residual value. Secondly, the band-pass filter is used to reduce the high-frequency torque modeling dynamic uncertainty. With the estimate information and the torque value, a variable impedance control approach is then synthesized to guarantee that the collision is avoided or the collision will be terminated with different contact models and positions. However, in terms of adaptive linear force error, the variation of the thickness of the boundary layer is controlled by the new proximity function. Findings Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process. Originality/value Origin approach and origin experiment.

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Section: Introductionmentioning

confidence: 99%

Collision detection and force control based on the impedance approach and dynamic modelling

Wang

Zhang

2019

View full text Add to dashboard Cite

show abstract

Development of Joint Controller and Collision Detection Methods for Series Elastic Manipulator of Relief Robot

Cited by 1 publication

References 8 publications

Collision detection and force control based on the impedance approach and dynamic modelling

Collision detection and force control based on the impedance approach and dynamic modelling

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