Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
Overview
This research presents a framework that dynamically adjusts collision sensitivity based on the Effective Mass of different robot links to improve productivity in human-robot collaboration. Experiments conducted on simulated and real collaborative robot arms (UR10e) equipped with sensitive skin, as well as on a simulated KUKA LBR iiwa robot using joint torque sensing, show an increase in productivity of over 45% compared to standard approaches that use fixed contact thresholds.
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- arXiv Robotics — research abstractsSignalAdaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
This research presents a framework that dynamically adjusts collision sensitivity based on the Effective Mass of different robot links to improve productivity in human-robot collaboration. Experiments conducted on simulated and real collaborative robot arms (UR10e) equipped with sensitive skin, as well as on a simulated KUKA LBR iiwa robot using joint torque sensing, show an increase in productivity of over 45% compared to standard approaches that use fixed contact thresholds.
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