< Back to previous page

Publication

Comparison of Collision Detection Techniques for High–Speed Industrial Robot Actuators with Overload Clutch

Book Contribution - Book Chapter Conference Contribution

High–speed industrial robots can cause severe damage in the event of a collision. In order to deploy them in unstructured environments, they require overload protection and sensitive collision detection. A qualitative and quantitative comparison of different detection techniques is presented based on high–speed collision experiments. A high–speed industrial robot actuator with overload clutch was instrumented with various sensors for this purpose. Limit switches and secondary encoders required the clutch to decouple prior to detection. Proprioceptive techniques were successfully implemented but showed lower sensitivity compared to accelerometer based collision detection.
Book: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2021)
Series: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages: 448-453
Number of pages: 6
Publication year:2021
BOF-keylabel:yes
IOF-keylabel:yes
Accessibility:Open