Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration

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 p...

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Veröffentlicht in:	arXiv.org 2023-08
Hauptverfasser:	Aran Mohammad, Schappler, Moritz, Ortmaier, Tobias
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Artificial neural networks Collaboration Configuration management Contact force Cooperation Kinematics Robots
Online-Zugang:	Volltext
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