Collide Detection, Reaction and Implementation for Excavator Arm

Collision detection and proper motion reaction strategy for avoiding the collision is a common problem for excavator arms to ensure the safety of the surrounding and itself. In this paper, a method consisting two parts with the implementation for the hydraulic excavator was proposed for this problem. Firstly, collision was detected based on forward kinematics of an excavator model. Secondly, ‘enabling filter’ was done for safe collision reaction, which indicate directions of joints of the arm that reduce collision. In the implementation part, an excavator was modified to support electric control and the use of above collision mechanism in such system is explained. Finally, field test was also carried out on this platform to prove its efficiency. Although this method is highlighted on excavator arms, it applies to common robotic arm.