Title: Collision detection and inverse dynamics control of KUKA LBR IIWA robot

Authors: Upinder Kaur; Urfi Khan; Nathi Ram Chauhan; Sudipto Mukherjee

Addresses: Department of Mechanical and Automation Engineering, Indira Gandhi Delhi Technical University, Delhi, India ' Department of Mechanical and Automation Engineering, Indira Gandhi Delhi Technical University, Delhi, India ' Department of Mechanical and Automation Engineering, Indira Gandhi Delhi Technical University, Delhi, India ' Department of Mechanical Engineering, Indian Institute of Technology, Delhi, India

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.

Keywords: redundant manipulator; collision avoidance; collision reaction; reaction strategies; degree-of-freedom; industrial robots; robotic control; robotics; human-robot interaction; modelling and simulation.

DOI: 10.1504/IJMA.2021.113718

International Journal of Mechatronics and Automation, 2021 Vol.8 No.1, pp.9 - 21

Accepted: 23 Jan 2020
Published online: 19 Mar 2021 *

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