Collision detection of flexible joint manipulator by using joint torque sensors

In this paper, we discuss a collision detection approach which enables the flexible joint manipulator to work safely in an unstructured environment. By using joint torque sensors, a novel Cartesian impedance control law is proposed to implement the compliance control at first; then adaptive dynamics joint controller is extended to all the joints for achieving precision control performance; furthermore, a Cartesian force-feedback path generation is developed for collision detection. The proposed approach simplifies application to the manipulator, keeps the manipulation friendly to the environment, and rigorously guarantees the asymptotical stability of the entire system. The experimental results illustrate the validity of the developed collision detection and planning scheme.