Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis
1
Department of Electronic Engineering, College of Information Science and Technology, Jinan University, Guangzhou 510632, China
2
Robotics Research Institue of Jinan University, Guangzhou 510632, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(5), 1080; https://doi.org/10.3390/s19051080
Received: 25 December 2018
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Revised: 11 February 2019
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Accepted: 27 February 2019
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Published: 3 March 2019
(This article belongs to the Special Issue Sensor Signal and Information Processing II)
Robot manipulators should be able to quickly detect collisions to limit damage due to physical contact. Traditional model-based detection methods in robotics are mainly concentrated on the difference between the estimated and actual applied torque. In this paper, a model independent collision detection method is presented, based on the vibration features generated by collisions. Firstly, the natural frequencies and vibration modal features of the manipulator under collisions are extracted with illustrative examples. Then, a peak frequency based method is developed for the estimation of the vibration modal along the manipulator structure. The vibration modal features are utilized for the construction and training of the artificial neural network for the collision detection task. Furthermore, the proposed networks also generate the location and direction information about contact. The experimental results show the validity of the collision detection and identification scheme, and that it can achieve considerable accuracy.
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Keywords:
manipulator; model independent method; collision detection; collision identification; vibration analysis; artificial neural network
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MDPI and ACS Style
Min, F.; Wang, G.; Liu, N. Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis. Sensors 2019, 19, 1080. https://doi.org/10.3390/s19051080
AMA Style
Min F, Wang G, Liu N. Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis. Sensors. 2019; 19(5):1080. https://doi.org/10.3390/s19051080
Chicago/Turabian StyleMin, Feiyan, Gao Wang, and Ning Liu. 2019. "Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis" Sensors 19, no. 5: 1080. https://doi.org/10.3390/s19051080
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