Collision detection of a robotic arm using statistical time-series methods : a comparative study

• Main Author: Ζησόπουλος, Σπυρίδων
• Other Authors: Zisopoulos, Spyridon
• Language: English
• Published: 2022
• Subjects: Collision detection; Statistical time-series methods; Comparative study; Robotic arms; Ανίχνευση σύγκρουσης; Στατιστικές μέθοδοι χρονοσειρών; Συγκριτική μελέτη; Ρομποτικός βραχίονας

This study explores the detection of collisions on a collaborative robotic arm (cobot) under different Case Studies that correspond to distinct robotic tasks using statistical time-series methods. The collisions cause abrupt changes in the investigated torque and force signals acquired from the test...