Collision detection using band designed Disturbance Observer

@article{Jung2012CollisionDU,
  title={Collision detection using band designed Disturbance Observer},
  author={Byung-jin Jung and Hyoukryeol Choi and Jachoon Koo and Hyungpil Moon},
  journal={2012 IEEE International Conference on Automation Science and Engineering (CASE)},
  year={2012},
  pages={1080-1085}
}
In this work, we design frequency band filters in Disturbance Observer (DOB) for collision detection between the industrial robot manipulator and human. We realize that the frequency characteristics of the inverse dynamics of the manipulator is similar to that of high pass filter and the sensor noise filter is in the form of low pass filter whereas the… CONTINUE READING