Collision detection method based on the force/torque sensorless
| Collision detection method | Advantage | Disadvantage |
|---|---|---|
| 1. The static threshold method | ||
| Based on Nonintelligent algorithms (De Luca and Mattone, 2005) | – Simple threshold | – Limited range – Invalid occasion |
| Based on intelligent algorithms (Park et al., 2020) | – Detection performance moderate | – Data set need – Much calculation |
| 2. The dynamic threshold method | ||
| Based on nonintelligent algorithms (Zhang et al., 2021) | – Detection performance high – Real-time | – Invalid occasion |
| Based on intelligent algorithms (Zhang et al., 2023) | – Detection performance high | – Data set need – Much calculation |
| Collision detection method | Advantage | Disadvantage |
|---|---|---|
| Based on Nonintelligent algorithms ( | – Simple threshold | – Limited range |
| – Detection performance moderate | – Data set need | |
| – Detection performance high | – Invalid occasion | |
| – Detection performance high | – Data set need | |
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