Title:
METHOD AND SYSTEM FOR DETECTING COLLISION OF ROBOT MANIPULATOR USING ARTIFICIAL NEURAL NETWORK
Document Type and Number:
WIPO Patent Application WO/2021/086091
Kind Code:
A1
Abstract:
The present invention relates to a system for detecting the collision of a robot manipulator using an artificial neural network. The system may comprise: joint driving units provided in a plurality of joints of the robot manipulator to drive the plurality of joints, respectively; encoder units provided on sides of the joint driving units to measure the angles of the plurality of joints; and a neural network calculation unit for training the neural network with a large amount of data and inferring, via a preprocessing calculation, to detect that the plurality of joints collide with the outside.
Inventors:
PARK JONG HOON (KR)
HEO YOUNG JIN (KR)
LEE WOONG YONG (KR)
HEO YOUNG JIN (KR)
LEE WOONG YONG (KR)
Application Number:
PCT/KR2020/014982
Publication Date:
May 06, 2021
Filing Date:
October 30, 2020
Export Citation:
Assignee:
NEUROMEKA (KR)
International Classes:
B25J9/16
Domestic Patent References:
| WO2019162109A1 | 2019-08-29 |
Foreign References:
| JPH07223181A | 1995-08-22 | |||
| KR20150080050A | 2015-07-09 | |||
| JPH05119815A | 1993-05-18 | |||
| KR102139229B1 | 2020-07-29 |
Other References:
HEO YOUNG JIN; KIM DAYEON; LEE WOONGYONG; KIM HYOUNGKYUN; PARK JONGHOON; CHUNG WAN KYUN: "Collision Detection for Industrial Collaborative Robots: A Deep Learning Approach", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 4, no. 2, 1 April 2019 (2019-04-01), pages 740 - 746, XP011708627, DOI: 10.1109/LRA.2019.2893400
See also references of EP 4052862A4
See also references of EP 4052862A4
Attorney, Agent or Firm:
ENVISION PATENT & LAW FIRM (KR)
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