Collision detection and inverse dynamics control of KUKA LBR IIWA robot

Abstract

This paper presents a collision reaction system and a controller based on inverse dynamics for KUKA IIWA LWR robot. Since it is widely used, a collision avoidance system is essential to ensure safety while working with this robot. The collision detection system presented monitors the working of the robot and as soon as a collision happens, it stops the system. The reaction strategies are invoked once a collision is detected, and they generate a counter torque which prevents the robot from colliding further with the obstacles in its path. Further, the collision avoidance system is called which generates a different joint trajectory while preserving the end-effector trajectory using dynamic redundancy resolution. An inverse dynamics-based closed-loop controller was created for this robot which was verified using the plots of actual vs. desired trajectory. The collision detection and reaction results are also presented. A suitable reaction strategy for collision reaction and avoidance was found by this analysis.