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

Kuk Hyun Ahn • Sang-Duck Lee • Jae-Bok Song

10:00 - 10:30 | Monday 25 September 2017 | Ballroom Foyer



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.