Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis

Min, Feiyan; Wang, Gao; Liu, Ning

doi:10.3390/s19051080

Cited by 44 publications

(31 citation statements)

References 27 publications

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“…Traditional model-based detection methods in robotics are mainly concentrated on the difference between the estimated and actual applied torque. Min et al [ 20 ] have proposed a model independent collision detection method based on the vibration features generated by collisions.…”

Section: Contributionsmentioning

confidence: 99%

Sensor Signal and Information Processing II

Woo

Gao

2020

Sensors

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This Special Issue compiles a set of innovative developments on the use of sensor signals and information processing. In particular, these contributions report original studies on a wide variety of sensor signals including wireless communication, machinery, ultrasound, imaging, and internet data, and information processing methodologies such as deep learning, machine learning, compressive sensing, and variational Bayesian. All these devices have one point in common: These algorithms have incorporated some form of computational intelligence as part of their core framework in problem solving. They have the capacity to generalize and discover knowledge for themselves, learning to learn new information whenever unseen data are captured.

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Section: Contributionsmentioning

confidence: 99%

Sensor Signal and Information Processing II

Woo

Gao

2020

Sensors

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“…In literature, different strategies based on FEM and experimental procedures to estimate NFs in robots have been presented [ 15 , 16 , 17 , 18 ]. FEM is the most used experimental procedure for vibration measurements integrated with signal processing techniques because it can estimate the real behavior of robots [ 19 , 20 , 21 , 22 , 23 , 24 ]. Although FEM provides results that are very close-to-real [ 25 ], it is necessary to perform an experimental validation of the behavior of the robot to identify the NFs with accuracy [ 26 ].…”

Section: Introductionmentioning

confidence: 99%

“…Although FEM provides results that are very close-to-real [ 25 ], it is necessary to perform an experimental validation of the behavior of the robot to identify the NFs with accuracy [ 26 ]. An important step of the experimental procedure is the use of a signal processing technique to estimate the NFs of robots [ 22 ]. In this regard, Fourier-based methods [ 19 , 20 , 21 , 22 , 23 ] and wavelet transform (WT) [ 24 , 27 ] have been the most commonly employed methods for performing this task.…”

Section: Introductionmentioning

confidence: 99%

“…An important step of the experimental procedure is the use of a signal processing technique to estimate the NFs of robots [ 22 ]. In this regard, Fourier-based methods [ 19 , 20 , 21 , 22 , 23 ] and wavelet transform (WT) [ 24 , 27 ] have been the most commonly employed methods for performing this task. For example, Min et al employed the Fourier transform method to identify the NFs of an STR6-05 robotic arm, a 6-DOF heavy load manipulator, to develop a collision detection method based on vibration signals [ 22 ].…”

Section: Introductionmentioning

confidence: 99%

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Natural Frequencies Identification by FEM Applied to a 2-DOF Planar Robot and Its Validation Using MUSIC Algorithm

Martínez-Cruz

Amezquita-Sanchez

Pérez-Soto

et al. 2021

Sensors

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In this paper, the natural frequencies (NFs) identification by finite element method (FEM) is applied to a two degrees-of-freedom (2-DOF) planar robot, and its validation through a novel experimental methodology, the Multiple Signal Classification (MUSIC) algorithm, is presented. The experimental platforms are two different 2-DOF planar robots with different materials for the links and different types of actuators. The FEM is carried out using ANSYS™ software for the experiments, with vibration signal analysis by MUSIC algorithm. The advantages of the MUSIC algorithm against the commonly used fast Fourier transform (FFT) method are also presented for a synthetic signal contaminated by three different noise levels. The analytical and experimental results show that the proposed methodology identifies the NFs of a high-resolution robot even when they are very closed and when the signal is embedded in high-level noise. Furthermore, the results show that the proposed methodology can obtain a high-frequency resolution with a short sample data set. Identifying the NFs of robots is useful for avoiding such frequencies in the path planning and in the selection of controller gains that establish the bandwidth.

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“…To enable robots to act in unstructured environments and physically interact with humans, collision detection was used, and some application examples were highlighted. Min et al [34] presented a collision detection method based on the vibrations caused by collisions. A BP neural network was used to analyze the vibration signals, and the experiments showed that detection could be realized by the frequency-domain and timedomain features of collision.…”

Section: Introductionmentioning

confidence: 99%

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

Yin

et al. 2020

IEEE Access

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Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendonsheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process. INDEX TERMS Tendon-sheath actuators, robotic manipulator, compliant control, position transmission model, parameter identifications, series elastic actuators, transmission characteristic.

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Collision Detection and Identification on Robot Manipulators Based on Vibration Analysis

Cited by 44 publications

References 27 publications

Sensor Signal and Information Processing II

Sensor Signal and Information Processing II

Natural Frequencies Identification by FEM Applied to a 2-DOF Planar Robot and Its Validation Using MUSIC Algorithm

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

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