Real Time Collision Detection and Identification for Robotic Manipulators

TL;DR

This paper presents a particle filter-based method for real-time collision detection and contact point localization in robotic manipulators, demonstrating its effectiveness on a simulated 4DoF arm compared to traditional analytical methods.

Contribution

It introduces a particle filter approach for contact localization and force estimation, enhancing real-time collision detection in robotic manipulators.

Findings

Particle filter accurately localizes contact points.

Method outperforms analytical approaches in simulation.

Enables real-time collision handling for robots.

Abstract

The majority of everyday tasks involve interacting with unstructured environments. This implies that, in order for robots to be truly useful they must be able to handle contacts. This paper explores how a particle filter can be used to localize a contact point and estimate the external force. We demonstrate the capability of the particle filter on a simulated 4DoF planar robotic arm, and compare it to a well-established analytical approach.