Title :
Collision detection enabled weighted path planning: a wrist and base force/torque sensors approach
Author :
Lu, Shujun ; Chung, Jae H.
Author_Institution :
Dept. of Mech. Eng., Stevens Inst. of Technol., Hoboken, NJ
Abstract :
This paper presents a collision-detection enabled weighted path planning approach for a robot sharing the same workspace with humans. Using base and wrist force/torque sensors, a model based method is proposed to detect the collision forces and disturbance torques on the joints of the manipulator; then a weighted path planning approach is developed to control the interaction. The experimental results illustrate the validity of the developed collision detection and planning scheme
Keywords :
collision avoidance; force sensors; identification; manipulators; base force sensor; collision detection; identification; manipulators; weighted path planning; wrist force sensor; wrist torque sensor; Force control; Force sensors; Humans; Manipulators; Orbital robotics; Path planning; Robot sensing systems; Service robots; Torque; Wrist;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507408