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Title:

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

Document type:
Zeitschriftenaufsatz
Author(s):
Birjandi, S. A. B.; Haddadin, S.
Abstract:
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...     »
Keywords:
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;...     »
Journal title:
IEEE Robotics and Automation Letters
Year:
2020
Journal volume:
5
Month:
Oct
Journal issue:
4
Pages contribution:
6544-6551
Fulltext / DOI:
doi:10.1109/LRA.2020.3015187
Print-ISSN:
2377-3766
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