Abstract
This paper proposes a tactile-sensor-less method of detecting collision to any body part of a moving manipulator. Considering the kinematic model for a PD-controlled 6DOF manipulator the method predicts the ideal controlling signals (voltage) required for the desired motion by estimating the driving motor torque and the current angular velocity for each motor. When the predicted signal and the actually measured one has a certain magnitude of difference it is decided that the collision occurs.
