Collision detection enabled weighted path planning: a wrist and base force/torque sensors approach

This paper presents a collision-detection enabled weighted path planning approach for a robot sharing the same workspace with humans. Using base and wrist force/torque sensors, a model based method is proposed to detect the collision forces and disturbance torques on the joints of the manipulator; then a weighted path planning approach is developed to control the interaction. The experimental results illustrate the validity of the developed collision detection and planning scheme