Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration
Aran Mohammad,Moritz Schappler,Tobias Ortmaier,Aran Mohammad,Moritz Schappler,Tobias Ortmaier
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel algorithm for collision isolation and identification with proprioceptive information for a real PR is the scope of this work. To classify the collided body, th...
