In physical human-robot interaction (pHRI) it is essential to reliably estimate and localize contact forces between the robot and the environment. In this paper, a complete contact detection, isolation, and reaction scheme is presented and tested on a new 6-dof industrial collaborative robot. We combine two popular methods, based on monitoring energy and generalized momentum, to detect and isolate collisions on the whole robot body in a more robust way. The experimental results show the effectiveness of our implementation on the LARA5 cobot, that only relies on motor current and joint encoder measurements. For validation purposes, contact forces are also measured using an external GTE CoboSafe sensor. After a successful collision detection, the contact point location is isolated using a combination of the residual method based on the generalized momentum with a contact particle filter (CPF) scheme. We show for the first time a successful implementation of such combination on a real robot, without relying on joint torque sensor measurements.
2023, 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), Pages 7533-7539
Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot (04b Atto di convegno in volume)
Zurlo Dario, Heitmann Tom, Morlock Merlin, DE LUCA Alessandro
Gruppo di ricerca: Robotics