Subspace Projection-Based Collision Detection for Collaborative Robots While Conducting Interaction Tasks

Kuk Hyun Ahn1, Sang-Duck Lee1, Jae-Bok Song1

  • 1Korea University

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Abstract

In recent years, various model-based collision detection methods have been proposed for safe physical human-robot collaboration. However, most tasks conducted by collaborative robots involve a physical robot-environment interaction, and it is very difficult to design a model of such interaction. In this study, a method for detecting collision while the robot is conducting an interaction task with unknown environment is proposed. To this end, a collision detection index is suggested based on the subspace projection technique.

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