Sun, Shuwen; Song, Chenyu; Wang, Bo; Huang, Haiming - In: Industrial Robot: the international journal of robotics … 50 (2023) 6, pp. 1024-1035
torque observer is established based on the model, and a dynamic threshold collision detection method is designed to reduce …. Findings Comparative experiments are conducted on static threshold and dynamic threshold collision detection, and the results … showed that the static threshold only detected one collision while the dynamic threshold could detect all collisions …