Dynamic collision detection method using adaptive control law

T. Matsumoto; K. Kosuge

doi:10.1109/IECON.2000.972346

Dynamic collision detection method using adaptive control law

T. Matsumoto
, K. Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme. © 2000 IEEE.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE Computer Society
Pages	2243-2248
Volume	1
DOIs	https://doi.org/10.1109/IECON.2000.972346
Publication status	Published - 2000
Externally published	Yes

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Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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title = "Dynamic collision detection method using adaptive control law",

abstract = "In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme. {\textcopyright} 2000 IEEE.",

author = "T. Matsumoto and K. Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].",

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T1 - Dynamic collision detection method using adaptive control law

AU - Matsumoto, T.

AU - Kosuge, K.

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2000

Y1 - 2000

N2 - In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme. © 2000 IEEE.

AB - In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme. © 2000 IEEE.

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84969286717&origin=recordpage

U2 - 10.1109/IECON.2000.972346

DO - 10.1109/IECON.2000.972346

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 1

SP - 2243

EP - 2248

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE Computer Society

ER -

Dynamic collision detection method using adaptive control law

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