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Intelligent Emergency Stop Algorithm for a Manipulator Using a New Regression Method
The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea
The School of Electrical Electronic and Control Engineering, Kongju National University, 275 Budae-Dong, Seobuk-Gu, Cheonan, Chungnam 331-717, Korea
* Author to whom correspondence should be addressed.
Received: 2 May 2012; in revised form: 25 May 2012 / Accepted: 28 May 2012 / Published: 31 May 2012
Abstract: In working environments with large manipulators, accidental collisions can cause severe personal injuries and can seriously damage manipulators, necessitating the development of an emergency stop algorithm to prevent such occurrences. In this paper, we propose an emergency stop system for the efficient and safe operation of a manipulator by applying an intelligent emergency stop algorithm. Our proposed intelligent algorithm considers the direction of motion of the manipulator. In addition, using a new regression method, the algorithm includes a decision step that determines whether a detected object is a collision-causing obstacle or a part of the manipulator. We apply our emergency stop system to a two-link manipulator and assess the performance of our intelligent emergency stop algorithm as compared with other models.
Keywords: emergency stop algorithm; risk and inefficiency; regression method
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Cheon, M.; Lee, J.; Lee, W.; Hyun, C.-H.; Park, M. Intelligent Emergency Stop Algorithm for a Manipulator Using a New Regression Method. Sensors 2012, 12, 7451-7467.
Cheon M, Lee J, Lee W, Hyun C-H, Park M. Intelligent Emergency Stop Algorithm for a Manipulator Using a New Regression Method. Sensors. 2012; 12(6):7451-7467.
Cheon, Minkyu; Lee, Jeisung; Lee, Wonju; Hyun, Chang-Ho; Park, Mignon. 2012. "Intelligent Emergency Stop Algorithm for a Manipulator Using a New Regression Method." Sensors 12, no. 6: 7451-7467.