Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot
Dario Zurlo,Tom Heitmann,Merlin Morlock,Alessandro De Luca,Dario Zurlo,Tom Heitmann,Merlin Morlock,Alessandro De Luca
In physical human-robot interaction (pHRI) it is essential to reliably estimate and localize contact forces between the robot and the environment. In this paper, a complete contact detection, isolation, and reaction scheme is presented and tested on a new 6-dof industrial collaborative robot. We combine two popular methods, based on monitoring energy and generalized momentum, to detect and isolate...
