Archivio Istituzionale della RicercaA general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results on both lightweight and heavyweight industrial manipulators confirm its validity and the absence of false collision detections during standard work-cycles.
A general procedure for collision detection between an industrial robot and the environment / Indri, Marina; Trapani, Stefano; Lazzero, Ivan. - ELETTRONICO. - (2015). (Intervento presentato al convegno 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2015) tenutosi a Luxembourg nel 8-11 Settembre 2015) [10.1109/ETFA.2015.7301539].
A general procedure for collision detection between an industrial robot and the environment
INDRI, Marina;TRAPANI, STEFANO;LAZZERO, IVAN
2015
Abstract
A general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results on both lightweight and heavyweight industrial manipulators confirm its validity and the absence of false collision detections during standard work-cycles.
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https://hdl.handle.net/11583/2621984
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