The paper presents a method of the collision detection and the continued avoidance motion after that. In an industrial robot control, if an unknown obstacle exists on the trajectory, it is required to detect the collision against the obstacle and to avoid it autonomously. In the proposed method, the collision is known by the signal of disturbance observer. The paper shows the algorithm how the robot knows the collision. When the collision occurs, the recovery motion and the obstacle avoidance motion start. The function of the collision detection is similar to that of the tactile sensor or the torque sensor. The algorithm is simple and it is easy to apply to the robot system. Moreover more intelligent robot control system is realized by fusing the function of the collision detection and the vision sensor. The experimental results are shown to verify the prposed method.
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