A master thesis from Aalborg University
Active safety in collaborative robots
Author(s)
Term
4. term
Education
Publication year
2018
Submitted on
2018-06-07
Pages
97 pages
Abstract
This report covers the derivation of a collision detection scheme based on a dynamic model of a robotic structure with three degrees of freedom. First, a PID controller is derived with the purpose of controlling the system, then an extended Kalman filter with the purpose of collision detection. The extended Kalman filter did not work and was replaced with a linear stationary Kalman filter which is capable of estimating the system states. The collision detection is based on external force estimator, which is made by an open loop approach. The open loop approach was deemed insufficient for collision detection, as it showed a high correlation between force estimations and inputs. Due to this correlation, it was not possible to detect if a collision had occurred. In the end a discussion reflecting the problems of the project and how further research may solve these are made
Keywords
Documents
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