Comparison of collision detection techniques for high-speed industrial robot actuators with overload clutch
- Author
- Frederik Ostyn (UGent) , Bram Vanderborght and Guillaume Crevecoeur (UGent)
- Organization
- Abstract
- 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.
- Keywords
- Collision detection, actuator, robot, clutch, DESIGN
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-8720971
- MLA
- Ostyn, Frederik, et al. “Comparison of Collision Detection Techniques for High-Speed Industrial Robot Actuators with Overload Clutch.” 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), IEEE, 2021, pp. 448–53, doi:10.1109/AIM46487.2021.9517560.
- APA
- Ostyn, F., Vanderborght, B., & Crevecoeur, G. (2021). Comparison of collision detection techniques for high-speed industrial robot actuators with overload clutch. 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 448–453. https://doi.org/10.1109/AIM46487.2021.9517560
- Chicago author-date
- Ostyn, Frederik, Bram Vanderborght, and Guillaume Crevecoeur. 2021. “Comparison of Collision Detection Techniques for High-Speed Industrial Robot Actuators with Overload Clutch.” In 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 448–53. IEEE. https://doi.org/10.1109/AIM46487.2021.9517560.
- Chicago author-date (all authors)
- Ostyn, Frederik, Bram Vanderborght, and Guillaume Crevecoeur. 2021. “Comparison of Collision Detection Techniques for High-Speed Industrial Robot Actuators with Overload Clutch.” In 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 448–453. IEEE. doi:10.1109/AIM46487.2021.9517560.
- Vancouver
- 1.Ostyn F, Vanderborght B, Crevecoeur G. Comparison of collision detection techniques for high-speed industrial robot actuators with overload clutch. In: 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE; 2021. p. 448–53.
- IEEE
- [1]F. Ostyn, B. Vanderborght, and G. Crevecoeur, “Comparison of collision detection techniques for high-speed industrial robot actuators with overload clutch,” in 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Delft, Netherlands, 2021, pp. 448–453.
@inproceedings{8720971,
abstract = {{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.}},
author = {{Ostyn, Frederik and Vanderborght, Bram and Crevecoeur, Guillaume}},
booktitle = {{2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}},
isbn = {{9781665441391}},
issn = {{2159-6255}},
keywords = {{Collision detection,actuator,robot,clutch,DESIGN}},
language = {{eng}},
location = {{Delft, Netherlands}},
pages = {{448--453}},
publisher = {{IEEE}},
title = {{Comparison of collision detection techniques for high-speed industrial robot actuators with overload clutch}},
url = {{http://doi.org/10.1109/AIM46487.2021.9517560}},
year = {{2021}},
}
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