Collision detection using a flexible link manipulator: a feasibility study
Collision detection using a flexible link manipulator: a feasibility study
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使用柔性连杆机械臂进行碰撞检测：可行性研究
DOI：
10.1109/robot.1996.503872
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
David W. L. Wang
中科院分区：
文献类型：
--
作者：
Stewart J. Moorehead;David W. L. Wang
提出了一种简单的柔性臂碰撞检测方法。该方法只需要两个应变测量，以确定与柔性连杆碰撞的位置。假设连杆处于静态平衡，推导出与接触力和接触位置有关的柔性连杆两点应变方程。由于柔性机器人实际上是在运动中，因此需要检查这些关系在动态场景中是否足够准确。因此，表达式通过碰撞测试在机器人上进行验证，并用于成功定位遇到的对象，以便可以围绕它规划路径。
A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in motion, one needs to examine whether these relationships are accurate enough in a dynamic scenario to be useful. Thus the expressions are verified on a robot through collision tests, and used to successfully locate an encountered object so that a path can be planned around it.