| Title |
Collision Detection Algorithm for 6-DOF Manipulator Through Current Analysis |
| Authors |
박진현(Jin-Hyun Park) ; 김동언(Dong-Eon Kim) ; 김기서(Ki-Seo Kim) ; 이장명(Jang-Myung Lee) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.4.110 |
| Keywords |
6-D0F(Degrees Of Freedom) manipulator control ; Frequency spectrum ; Collision detection |
| Abstract |
In this paper, we propose a collision detection algorithm through control of a 6-DOF manipulator with DC motor using dynamixel and current data analysis of joints. The 6-DOF manipulator used in the paper is controlled by the third-order polynomial path planning and PD controller, and the frequency analysis is performed using the current information generated at this time. If the current data of the impulse generated in the collision is greater than the reference value based on the frequency band and the amplitude, it is determined as collision. To obtain the direction of the collision, we use the currents of Joint1 and Joint2 corresponding to the x and y axes except for the z axis where no collision can occur. In the experiment and conclusion of the paper, the effectiveness and validity of the proposed collision detection algorithm is verified through real experiments. |