Citation

Cheon M, Lee J, Lee W, Hyun CH, Park M. Sensors (Basel) 2012; 12(6): 7451-7467.

Affiliation

The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea; E-Mails: 1000minkyu@yonsei.ac.kr (M.C.); leejaisung@yonsei.ac.kr (J.L.); delicado@yonsei.ac.kr (W.L.).

Copyright

(Copyright © 2012, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s120607451

PMID

22969354

Abstract

In working environments with large manipulators, accidental collisions can cause severe personal injuries and can seriously damage manipulators, necessitating the development of an emergency stop algorithm to prevent such occurrences. In this paper, we propose an emergency stop system for the efficient and safe operation of a manipulator by applying an intelligent emergency stop algorithm. Our proposed intelligent algorithm considers the direction of motion of the manipulator. In addition, using a new regression method, the algorithm includes a decision step that determines whether a detected object is a collision-causing obstacle or a part of the manipulator. We apply our emergency stop system to a two-link manipulator and assess the performance of our intelligent emergency stop algorithm as compared with other models.

Language: en