Collision detection and inverse dynamics control of KUKA LBR IIWA robot. (11th March 2021)

• Record Type: Journal Article
• Authors: Kaur, Upinder; Khan, Urfi; Chauhan, Nathi Ram; Mukherjee, Sudipto
• Is Part Of: International journal of mechatronics and automation. Volume 8:Number 1(2021)
• Page Start: 9
• Page End: 21
• Publication Date: 2021-03-11
• Subjects: redundant manipulator -- collision avoidance -- collision reaction -- reaction strategies -- degree-of-freedom -- industrial robots -- robotic control -- robotics -- human-robot interaction -- modelling and simulation; Mechatronics -- Periodicals; Automation -- Periodicals; 629.8905
• Languages: English
• ISSNs: 2045-1059

Abstract

This paper presents a collision reaction system and a controller based on inverse dynamics for KUKA IIWA LWR robot. Since it is widely used, a collision avoidance system is essential to ensure safety while working with this robot. The collision detection system presented monitors the working of the robot and as soon as a collision happens, it stops the system. The reaction strategies are invoked once a collision is detected, and they generate a counter torque which prevents the robot from colliding further with the obstacles in its path. Further, the collision avoidance system is called which generates a different joint trajectory while preserving the end-effector trajectory using dynamic redundancy resolution. An inverse dynamics-based closed-loop controller was created for this robot which was verified using the plots of actual vs. desired trajectory. The collision detection and reaction results are also presented. A suitable reaction strategy for collision reaction and avoidance was found by this analysis.