Collision Detection and Estimation of Its Spot for a Flexible Beam Using Mode-function-ratio Method

抄録

Flexible manipulators in working space with environmental objects (walls, boxes, humans, other mobile machines, etc.) should avoid collision to achieve their mission. Unfortunately, if an unexpected obstacle collides with the manipulator, it is necessary to stop and replan the path for avoiding the obstacle when the collision is detected. However, in order to replan new path to avoid the obstacle, we have to know the flexible manipulator's spot where the obstacle collides. This paper presents a method to find a collision spot of a flexible beam based on the observation data measured by strain sensors pasted on it.