A Collision Detection System for an Assistive Robotic Manipulator
To make human-manipulator interaction safe, a method and its realization of safety design of assistive robotic manipulator based on collision detection is presented in this paper. The collision is detected by the difference of the reference torque calculated according to the dynamic model and the factual torque measured by torque sensors. In the design of the joint torque sensor, the finite element analysis is applied to determine the optimal position for pasting strain gauge, and then a signal processing circuit with high capacity of resisting disturbances is developed. According to the low speed characteristic of the assistive robotic manipulator, a simplified dynamic model is established, which balances the efficiency and accuracy of the calculation of the reference torque. Experimental results are given to prove the validity of the proposed design.
Assistive Robotic Manipulator Safety Collision Detection Torque Sensor
Weidong Chen Yixiang Sun Yuntian Huang
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China State Key Laboratory of Robotics and System (HIT), Harbin 150001, China
国际会议
无锡
英文
117-123
2010-09-17（万方平台首次上网日期，不代表论文的发表时间）