Title :
Gauge based collision detection mechanism for a new three-degree-of-freedom flexible robot
Author :
García, A. ; Feliu, V. ; Somolinos, J.A.
Author_Institution :
ETSI Ind., Univ. de Castilla-La Mancha, Spain
Abstract :
This paper analyzes the possibility of carrying out the collision detection as a first step towards the position/force control of three-degree-of-freedom flexible arm by using gauges placed at some distance of the tip (where contact is expected) in such way that they can easily stand the impact. Simulated results over a prototype three-degree-of-freedom flexible arm are presented.
Keywords :
flexible manipulators; force control; manipulator dynamics; position control; 3 DOF flexible manipulators; collision detection; dynamics; flexible arm; force control; gauges; position control; Acceleration; Accelerometers; Arm; Feedback; Force control; Force measurement; Force sensors; Position control; Robot sensing systems; Service robots;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933218
