Dynamic collision detection method using adaptive control law

In this paper, we propose a dynamic collision detection scheme using an adaptive control law. The system detects collision of a robot, with its environment based on the difference between the actual input torque and the reference input torque, so that no external sensors are required for the detection. Adaptive control scheme is employed for estimation of the parameters of the robot. The proposed collision, detection scheme is applied to an experimental system and experimental results illustrate the validity of the proposed scheme.