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Journal of Sensors
Volume 2016, Article ID 6291216, 10 pages
Research Article

Collision Sensing Using Force/Torque Sensor

1Department of Space Automation Technologies & Systems, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China
2University of Chinese Academy of Science, Beijing, China

Received 15 June 2015; Accepted 27 August 2015

Academic Editor: Dong-ning Wang

Copyright © 2016 Yu-Quan Leng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Collision sensing including collision position, collision direction, and force size could make robots smoothly interact with environment, so that the robots can strongly adapt to the outside world. Skin sensor imitates principles of human skin using special material and physical structure to obtain collision information, but this method has some disadvantages, such as complex design, low sampling rate, and poor generality. In this paper, a new method using force/torque sensor to calculate collision position, collision direction, and force size is proposed. Detailed algorithm is elaborated based on physical principle and unified modeling method for basic geometric surface. Gravity compensation and dynamic compensation are also introduced for working manipulators/robots in gravity and dynamic environment. In addition, considering algorithm solvability and uniqueness, four constraints are proposed, which are force constraint, geometric constraint, normal vector constraint, and current mutation constraint. In order to solve conflict solution of algorithm in redundant constraints, compatibility solution analysis is proposed. Finally, a simulation experiment shows that the proposed method can achieve collision information efficiently and accurately.