Collision detection using a flexible link manipulator: a feasibility study

A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in motion, one needs to examine whether these relationships are accurate enough in a dynamic scenario to be useful. Thus the expressions are verified on a robot through collision tests, and used to successfully locate an encountered object so that a path can be planned around it.