Gauge based collision detection mechanism for a new three-degree-of-freedom flexible robot

Abstract

This paper analyzes the possibility of carrying out the collision detection as a first step towards the position/force control of three-degree-of-freedom flexible arm by using gauges placed at some distance of the tip (where contact is expected) in such way that they can easily stand the impact. Simulated results over a prototype three-degree-of-freedom flexible arm are presented.