File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/AIM.2001.936450
- Scopus: eid_2-s2.0-0034866169
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Collision detection of manipulator based on adaptive control law
Title | Collision detection of manipulator based on adaptive control law |
---|---|
Authors | |
Issue Date | 2001 |
Citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2001, v. 1, p. 177-182 How to Cite? |
Abstract | In this paper, we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li. The collision of a manipulator with its environment is detected by the difference between the actual input torques to the manipulator and the reference input torques calculated based on the manipulator dynamics. An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator. The reference input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the experimental results illustrate the validity of the proposed scheme. |
Persistent Identifier | http://hdl.handle.net/10722/302703 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Matsumoto, T. | - |
dc.contributor.author | Kosuge, K. | - |
dc.date.accessioned | 2021-09-07T08:42:25Z | - |
dc.date.available | 2021-09-07T08:42:25Z | - |
dc.date.issued | 2001 | - |
dc.identifier.citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2001, v. 1, p. 177-182 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302703 | - |
dc.description.abstract | In this paper, we propose a collision detection method of a manipulator based on the nonlinear adaptive control law proposed by Slotine and Li. The collision of a manipulator with its environment is detected by the difference between the actual input torques to the manipulator and the reference input torques calculated based on the manipulator dynamics. An adaptive control scheme is employed for the manipulator control and the parameter estimation of the manipulator. The reference input torques are calculated using the estimated manipulator parameters. The proposed collision detection scheme is applied to an industrial manipulator and the experimental results illustrate the validity of the proposed scheme. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
dc.title | Collision detection of manipulator based on adaptive control law | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/AIM.2001.936450 | - |
dc.identifier.scopus | eid_2-s2.0-0034866169 | - |
dc.identifier.volume | 1 | - |
dc.identifier.spage | 177 | - |
dc.identifier.epage | 182 | - |