{"title":"工业机器人与环境之间碰撞检测的一般程序","authors":"M. Indri, S. Trapani, Ivan Lazzero","doi":"10.1109/ETFA.2015.7301539","DOIUrl":null,"url":null,"abstract":"A general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results on both lightweight and heavyweight industrial manipulators confirm its validity and the absence of false collision detections during standard work-cycles.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"18 1","pages":"1-8"},"PeriodicalIF":0.0000,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"18","resultStr":"{\"title\":\"A general procedure for collision detection between an industrial robot and the environment\",\"authors\":\"M. Indri, S. Trapani, Ivan Lazzero\",\"doi\":\"10.1109/ETFA.2015.7301539\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results on both lightweight and heavyweight industrial manipulators confirm its validity and the absence of false collision detections during standard work-cycles.\",\"PeriodicalId\":6862,\"journal\":{\"name\":\"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)\",\"volume\":\"18 1\",\"pages\":\"1-8\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-10-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"18\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ETFA.2015.7301539\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETFA.2015.7301539","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A general procedure for collision detection between an industrial robot and the environment
A general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results on both lightweight and heavyweight industrial manipulators confirm its validity and the absence of false collision detections during standard work-cycles.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
