Fully Integrated Torque-Based Collision Detection in Periodic Tasks for Industrial Robots with Closed Control Architecture

Gordić, Zaviša; Jovanović, Kosta

doi:10.1007/978-3-030-00232-9_8

Cited by 2 publications

(6 citation statements)

References 12 publications

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“…This paper is dedicated to improving the performance and flexibility of previously developed algorithm. 17 Due to increased complexity of the algorithm presented in this paper, the possibility of its full integration on robot's controller is reduced for many brands because of their closed architecture and lack of interface. 14 Therefore, it was decided to explore benefits and performance of more complex collision detection algorithms by implementing them on a PC which has permanent connection to the robot.…”

Section: Principal Design Of the Collision Detection Algorithmmentioning

confidence: 99%

“…Furthermore, unlike similar algorithm presented in Ref. [17], this collision detection algorithm requires permanent connection with a PC or some similar processing unit. The reason for this is increased complexity, which means it cannot be fully implemented in robots with closed control architecture.…”

Section: Principal Design Of the Collision Detection Algorithmmentioning

confidence: 99%

“…Collision detection algorithms proposed in this paper and in Ref. [17] rely on these principles in order to detect collisions and react accordingly. Although these algorithms are not as versatile as model-based algorithms in terms of modification of robot movement, they offer advantages in reduced complexity and reaction time.…”

Section: Introductionmentioning

confidence: 99%

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Collision Detection on Industrial Robots in Repetitive Tasks Using Modified Dynamic Time Warping

Gordić¹,

Jovanović²

2019

Robotica

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SUMMARYThis paper presents a non-model-based collision detection algorithm for robots without external sensors and with closed control architecture. A reference signal of repetitive motion is recorded from the robot operation. To detect collisions, the reference is compared with measurements from the robot. One of the key contributions is a novel approach to optimal matching of compared signals, which is ensured by the newly developed modified Dynamic Time Warping (mDTW) method presented in this paper. One of the main improvements of the mDTW is that it enables comparing a signal with the most similar section of the other signal. Partial matching also enables online application of time warping principles and reduces the time and computation resources needed to perform matching. In addition to mDTW, two complementary decision rules are developed to identify collisions. The first rule, based on the absolute difference between compared matched samples, uses statistically determined thresholds to perform rapid detection of unambiguous collisions. The second rule is based on Eigen values of the covariance matrix of matched samples, and it employs its higher sensitivity to detect collisions with lower intensity. Results from experimental validation of the proposed collision algorithm on two industrial robots are shown.

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Section: Principal Design Of the Collision Detection Algorithmmentioning

confidence: 99%

Section: Principal Design Of the Collision Detection Algorithmmentioning

confidence: 99%

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Collision Detection on Industrial Robots in Repetitive Tasks Using Modified Dynamic Time Warping

Gordić¹,

Jovanović²

2019

Robotica

Self Cite

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“…As a result, they are now offering different Industry 4.0 functionalities, connectivity, and simulation-related options, at least for their new and upcoming products [ 3 ]. Furthermore, related topics that have made undisputedly valuable contributions to novel industrial concepts are: collision detection and avoidance [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 ], physical human–robot interaction [ 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 ], kinesthetic guidance [ 19 , 20 , 26 ], motion planning, digital twins, augmented reality, and facilitated programming.…”

Section: Introductionmentioning

confidence: 99%

“…Solutions based on non-model-based collision detection [ 9 , 12 , 13 , 14 ] intrinsically include the dynamics of the task itself, and their principles do indeed correspond to the requirements for detection and comparison of contact force profiles. However, the relative drawback of this approach is that it is limited to application in repetitive tasks, including identical or very similar motion to the motion during which the reference was recorded.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics

Gordić

Jovanović

2022

Sensors

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This paper presents a method to include unmodeled dynamics of load or a robot’s end-effector into algorithms for collision detection or general understanding of a robot’s operation context. The approach relies on the application of a previously developed modification of the Dynamic Time Warping algorithm, as well as a universally applicable algorithm for identifying kinematic parameters. The entire process can be applied to arbitrary robot configuration, and it does not require identification of dynamic parameters. The paper addresses the two main categories of contact tasks with unmodelled dynamics, which are determined based on whether the external contact force has a consistent profile in the end effector or base coordinate. Conclusions for representative examples analysed in the paper are applicable to tasks such as load manipulation, press bending, and crimping for the first type of forces and applications such as drilling, screwdriving, snap-fit, bolting, and riveting assembly for the latter category. The results presented in the paper are based on realistic testing with measurements obtained from an industrial robot.

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Fully Integrated Torque-Based Collision Detection in Periodic Tasks for Industrial Robots with Closed Control Architecture

Cited by 2 publications

References 12 publications

Collision Detection on Industrial Robots in Repetitive Tasks Using Modified Dynamic Time Warping

Collision Detection on Industrial Robots in Repetitive Tasks Using Modified Dynamic Time Warping

A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics

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