This paper present a method for detecting collision occurs in the robot manipulator and reacting according to collision direction. An experiment was conducted to read the joints speed during collision of the UR3 robot at static position, where the joints speeds are supposed to be zero. The experiment showed that when collision occurs within the manipulator there is oscillatory speed produced in joints, which is suggested to be duo to the stiffness of the harmonic drive. The harmonic drive is a flexible transmission generates stiffness behavior, as a spring, between the motor and the link. The collision is determined from the oscillatory speed produced in robot joints at static position. The method successfully identified the collision impact at joints, and reacted according to the collision direction. The experimental setup and the results are presented in this paper.
Omar Abdelaziz and Minzhou Luo Serial Robot Collision Reaction using Joints Data at Stationary Position International Journal of Engineering Works Vol. 7 Issue 10 PP. 356-360 October 2020 https://doi.org/10.34259/ijew.20.710356360.
[1] I. Maurtua, A. Ibarguren, J. Kildal, L. Susperregi, and B. Sierra, “Human-robot collaboration in industrial applications: Safety, interaction and trust,” Int. J. Adv. Robot. Syst., vol. 14, no. 4, pp. 1–10, 2017.
[2] P. A. Lasota, T. Fong, and J. A. Shah, “A Survey of Methods for Safe Human-Robot Interaction,” Found. Trends Robot., vol. 5, no. 3, pp. 261–349, 2017.
[3] S. Haddadin, A. Albu-Schäffer, A. De Luca, and G. Hirzinger, “Collision detection and reaction: A contribution to safe physical human-robot interaction,” in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008, pp. 3356–3363.
[4] O. Abdelaziz, M. Luo, G. Jiang, and S. Chen, “Adaptive threshold for robot manipulator collision detection using fuzzy system,” SN Appl. Sci., vol. 2, no. 3, p. 319, Mar. 2020.
[5] X. Lamy, F. Colledani, F. Geffard, Y. Measson, and G. Morel, “Achieving efficient and stable comanipulation through adaptation to changes in human arm impedance,” in Proceedings - IEEE International Conference on Robotics and Automation, 2009, pp. 265–271.
[6] D. J. Braun et al., “Robots driven by compliant actuators: Optimal control under actuation constraints,” IEEE Trans. Robot., vol. 29, no. 5, pp. 1085–1101, Oct. 2013.
[7] S. Lu, J. H. Chung, and S. A. Velinsky, “Human-robot collision detection and identification based on wrist and base force/torque sensors,” in Proceedings - IEEE International Conference on Robotics and Automation, 2005, vol. 2005, pp. 3796–3801.
[8] O. Sim, J. Oh, K. K. Lee, and J. H. Oh, “Collision Detection and Safe Reaction Algorithm for Non-backdrivable Manipulator with Single Force/Torque Sensor,” Journal of Intelligent and Robotic Systems: Theory and Applications, Springer Netherlands, pp. 1–10, 13-Oct-2017.
[9] M. Fritzsche, N. Elkmann, and E. Schulenburg, “Tactile Sensing : A Key Technology for Safe Physical Human Robot Interaction,” in Proceedings of the 6th international conference on Human-robot interaction, 2011, pp. 139–140.
[10] C. Bartolozzi, L. Natale, F. Nori, and G. Metta, “Robots with a sense of touch,” Nature Materials, vol. 15, no. 9. Springer Nature, pp. 921–925, 01-Sep-2016.
[11] J. Ulmen and M. Cutkosky, “A robust, low-cost and low-noise artificial skin for human-friendly robots,” in Proceedings - IEEE International Conference on Robotics and Automation, 2010, pp. 4836–4841.
[12] S. D. Lee, M. C. Kim, and J. B. Song, “Sensorless collision detection for safe human-robot collaboration,” in IEEE International Conference on Intelligent Robots and Systems, 2015, pp. 2392–2397.
[13] A. De Luca and R. Mattone, “Sensorless robot collision detection and hybrid force/motion control,” in Proceedings - IEEE International Conference on Robotics and Automation, 2005, no. April, pp. 999–1004.
[14] S. Chen, M. Luo, O. Abdelaziz, and G. Jiang, “A general analytical algorithm for collaborative robot (cobot) with 6 degree of freedom (DOF),” in Proceedings of the 2017 IEEE International Conference on Applied System Innovation: Applied System Innovation for Modern Technology, ICASI 2017, 2017, pp. 698–701.
[15] R. Cortesao, C. Sousa, and P. Queiros, “Active impedance control design for human-robot comanipulation,” in American Control Conference, 2010, pp. 2805–2810.
[16] S. Haddadin, “Towards Safe Robots: Approaching Asimov’s 1st Law,” Springer Tracts Adv. Robot., pp. 1–352, 2011.
[17] S. Chen, M. Luo, G. Jiang, and O. Abdelaziz, “Collaborative robot zero moment control for direct teaching based on self-measured gravity and friction,” Int. J. Adv. Robot. Syst., vol. 15, no. 6, 2018.
[18] H. D. Taghirad and P. R. Belanger, “An experimental study on modelling and identification of harmonic drive systems,” in Proceedings of 35th IEEE Conference on Decision and Control, 1996, pp. 4725–4730.
[19] Universal Robots, “UR3 Robot,” 2017. [Online]. Available: https://www.universal-robots.com/products/ur3-robot/. [Accessed: 14-May-2018].
[20] O. Abdelaziz, M. Luo, G. Jiang, and S. Chen, “Multiple configurations for puncturing robot positioning,” International Journal of Advance Robotics & Expert Systems (JARES), 06-Mar-2019. [Online]. Available: https://airccse.com/jares/papers/1419jares01.pdf. [Accessed: 01-Feb-2020].
[21] G. Jiang, M. Luo, L. Lu, K. Bai, O. Abdelaziz, and S. Chen, “Vision solution for an assisted puncture robotics system positioning,” Appl. Opt., vol. 57, no. 28, p. 8385, Oct. 2018.
[22] A. De Luca and W. J. Book, “Robots with Flexible Elements,” in Springer Handbook of Robotics, Berlin, Heidelberg: Springer Berlin Heidelberg, 2016, pp. 243–282.
[23] M. W. Spong, “Modeling and Control of Elastic Joint Robots,” J. Dyn. Syst. Meas. Control, vol. 109, no. 4, p. 310, Dec. 1987.
