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Keywords: Envelope
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Journal Articles
Collision detection method for industrial robot based on envelope-like lines
Available to Purchase
Industrial Robot (2019) 46 (4): 510–517.
Published: 20 June 2019
... are analyzed, and collisions are classified into two types: hard and soft. A pair of envelope-like lines with an effect similar to that of the true envelope lines is designed. By using these envelope-like lines, some components of the torque calculation error can be eliminated, and the sensitivity of collision...
