Abstract
Physical Human-Robot Interaction requires collision detection to enable a safe sharing of workspace between humans and robots, mostly using model based algorithms. Majority of robot tasks involve physical interaction with the environment, and consequently the forces occurring during the interaction. This paper presents an experimental testing of influence of unmodelled but intentional forces on the quality of collision detection algorithms. Results from testing of different manipulation and assembly tasks are shown and discussed in terms of their significance to collision detection and similarity with real collisions. Presented results and conclusions from this paper may serve as guidelines for future collision detection related work by offering a better understanding and insight on the relevance of intentional external forces.
The work was partially supported by the Serbian Ministry of education, science, and technological development, grant No. TR35003 and H2020 project “A Pan European Network of Robotics DIHs for Agile Production (DIH²)”.
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Gordić, Z., Jovanović, K. (2020). Influence of Unmodelled External Forces on the Quality of Collision Detection. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_37
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DOI: https://doi.org/10.1007/978-3-030-19648-6_37
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