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Conference papers
Quantifying the Uncertainties-Induced Errors in Robot Impact Detection Methods
Abstract : In the context of human-robot collaboration, an efficient impact detection is essential for safe operation. Residual-based collision detection relies on the difference between the estimated and actual motor torques. However, in these model-based methods uncertainties affect the residual in the same structural way as a collision does, leading to potential false alarms. This paper proposes to quantify the influence of uncertainties on residual generation methods based on the inverse dynamic model for both rigid and elastic-joint robots. These uncertainties-induced errors are investigated depending on their origin (parameters estimation or numerical differentiation). Boundaries of these errors are determined along a given trajectory and account as the minimum threshold of detectability of a collision. These results are illustrated in simulation.
Cited literature [16 references]
https://hal-centralesupelec.archives-ouvertes.fr/hal-01416124
Contributor : Maria Makarov Connect in order to contact the contributor
Submitted on : Wednesday, December 14, 2016 - 9:41:37 AM
Last modification on : Tuesday, July 20, 2021 - 3:06:24 AM
Long-term archiving on: : Wednesday, March 15, 2017 - 1:12:47 PM
Contributor : Maria Makarov Connect in order to contact the contributor
Submitted on : Wednesday, December 14, 2016 - 9:41:37 AM
Last modification on : Tuesday, July 20, 2021 - 3:06:24 AM
Long-term archiving on: : Wednesday, March 15, 2017 - 1:12:47 PM
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Briquet 2016 - Quantifying the...
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