Abstract
To make human-manipulator interaction safe, a method and its realization of safety design of assistive robotic manipulator based on collision detection is presented in this paper. The collision is detected by the difference of the reference torque calculated according to the dynamic model and the factual torque measured by torque sensors. In the design of the joint torque sensor, the finite element analysis is applied to determine the optimal position for pasting strain gauge, and then a signal processing circuit with high capacity of resisting disturbances is developed. According to the low speed characteristic of the assistive robotic manipulator, a simplified dynamic model is established, which balances the efficiency and accuracy of the calculation of the reference torque. Experimental results are given to prove the validity of the proposed design.
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Chen, W., Sun, Y., Huang, Y. (2010). A Collision Detection System for an Assistive Robotic Manipulator. In: Li, K., Li, X., Ma, S., Irwin, G.W. (eds) Life System Modeling and Intelligent Computing. ICSEE LSMS 2010 2010. Communications in Computer and Information Science, vol 97. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15853-7_15
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DOI: https://doi.org/10.1007/978-3-642-15853-7_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15852-0
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