Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human-Robot Comanipulation.

In this paper, a multilayer feedforward neural network (NN) is designed and trained, for human-robot collisions detection, using only the intrinsic joint position sensors of a manipulator. The topology of one NN is designed considering the coupled dynamics of the robot and trained, with and without external contacts, by Levenberg-Marquardt algorithm to detect unwanted collisions of the human operator with the manipulator and the link that is collided. The proposed approach could be applied to any industrial robot, where only the joint position signals are available. The designed NN is compared quantitatively and qualitatively with an NN, where both the intrinsic joint position and the torque sensors of the manipulator are used. The proposed method is evaluated experimentally with the KUKA LWR manipulator, which is considered as an example of the collaborative robots, using two of its joints in a planar horizontal motion. The results illustrate that the developed system is efficient and fast to detect the collisions and identify the collided link.