Model adaptive collision detection for flexible joint manipulator based on state observer

Shipeng, Cui; Yiwei, Liu; Yongjun, Sun; Gerada, Chris

Abstract

In this paper, a novel collision detection method for flexible joint manipulator, which calculates the difference between theoretical control torque of regression model and measured control torque, is proposed. As the core of the collision detection method, the adaptive law based on regression model error improves the accuracy of collision detection and makes the collision detection have a first-order low-pass characteristic. Specifically, it assumes that the states of flexible joint manipulator can be accurately estimated by employing the state observer based on fixed-lag Kalman smoother. Both simulations and experiments are carried out on a 2-degree of freedom (DoF) flexible joint manipulator, and the results demonstrate that the proposed method can notably improves collision detection accuracy and sensitivity.

Citation

Shipeng, C., Yiwei, L., Yongjun, S., & Gerada, C. (2023). Model adaptive collision detection for flexible joint manipulator based on state observer. International Journal of Hydromechatronics, 6(3), 242-257. https://doi.org/10.1504/IJHM.2023.132298

• Journal Article Type: Article
• Acceptance Date: Jun 30, 2023
• Online Publication Date: Jun 30, 2023
• Publication Date: 2023
• Deposit Date: Jan 15, 2025
• Journal: International Journal of Hydromechatronics
• Print ISSN: 2515-0464
• Electronic ISSN: 2515-0472
• Publisher: Inderscience
• Peer Reviewed: Peer Reviewed
• Volume: 6
• Issue: 3
• Pages: 242-257
• DOI: https://doi.org/10.1504/IJHM.2023.132298
• Public URL: https://nottingham-repository.worktribe.com/output/42839220
• Publisher URL: https://www.inderscienceonline.com/doi/abs/10.1504/IJHM.2023.132298