Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators

In this letter, we introduce a novel regressor-based observer method to adapt an initially erroneous dynamics model of serial manipulators for improving collision detection sensitivity. Specifically, we assume that the robot joint velocity and acceleration can be accurately estimated via our previously introduced nonlinear estimator [1], [2] that fuses Inertial measurement unit (IMU) measurements with the robot proprioceptive sensing. Given the relatively high bandwidth of nowadays IMUs compared to a standard robot sensorization, the estimated kinematic joint variables support the prompt detection of unpredictable collisions. Compared to the state of the art, our algorithm notably improves collision detection accuracy and sensitivity, surpassing traditional methods such as the well established momentum based scheme. We support our claims and demonstrate the performance of our algorithm on a 7 degree of freedom (DoF) robot manipulator, both in simulation and experiment.     «

In this letter, we introduce a novel regressor-based observer method to adapt an initially erroneous dynamics model of serial manipulators for improving collision detection sensitivity. Specifically, we assume that the robot joint velocity and acceleration can be accurately estimated via our previously introduced nonlinear estimator [1], [2] that fuses Inertial measurement unit (IMU) measurements with the robot proprioceptive sensing. Given the relatively high bandwidth of nowadays IMUs compared...     »

adaptive control; collision avoidance; manipulator dynamics; manipulator kinematics; nonlinear estimation; observers; regression analysis; serial manipulators; robot joint velocity; nonlinear estimator; robot proprioceptive sensing; inertial measurement unit; momentum based scheme; regressor based observer; serial chain robot manipulators; model adaptive high speed collision detection; kinematic joint variables; robot sensorization; Collision avoidance; Adaptation models; Robot sensing systems; Observers; Bandwidth; Numerical models; Collision avoidance; robot safety; sensor fusion     «

adaptive control; collision avoidance; manipulator dynamics; manipulator kinematics; nonlinear estimation; observers; regression analysis; serial manipulators; robot joint velocity; nonlinear estimator; robot proprioceptive sensing; inertial measurement unit; momentum based scheme; regressor based observer; serial chain robot manipulators; model adaptive high speed collision detection; kinematic joint variables; robot sensorization; Collision avoidance; Adaptation models; Robot sensing systems;...     »