![]() It is a critical issue to study the collisions of a robot manipulator due to diverse application scenarios. In-depth study of the Hexa robot dynamics is needed to take full advantage of its strengths for trajectory control and fault detection. There have been few studies on the dynamic modeling of the experimental configuration Hexa parallel robot. ![]() Therefore, the artificial neural networks (ANNs) method is proposed for finding a unique closed-form analytic solution to the forward kinematics problem. Meanwhile, the inverse kinematics issue is tractable by geometrical methods, but the forward kinematics problem involves a system of nonlinear equations that usually has no closed-form solution. However, working with this type of robot must imply solving complex and computationally not only inverse/forward kinematics problems but also dynamics ones, which are complicated. Despite its complicated kinematics structure and limited workspace, the Hexa robot has remarkable advantages over the serial robot: high accuracy, high stiffness, high speed, and high carrying capability. Based on the experimental results, the force identification is compared to sensor forces for the performance evaluation of the proposed collision detection method.Ī six-degree-of-freedom parallel structure called the Hexa parallel robot was introduced by Pierrot et al. Finally, a recursive Newton-Euler algorithm is applied to compute contact forces caused by collision cases with the real-Hexa robot. Then, a vision system consisting of dual-depth cameras is designed for obstacle isolation and determining the contact point location at the end-effector, an arm, and a rod of the Hexa robot. ![]() Next, a virtual force sensor is presented to estimate the collision detection signal created as a combination of the solution to the inverse dynamics and a low-pass filter. Initially, the configuration, kinematic and dynamic characteristics during movement trajectories of the Hexa parallel robot are analyzed to perform the knowledge extraction for the method. The processes to deal with the collision issues refer to collision detection, collision isolation, and collision identification applied to the Hexa robot, respectively, in this paper. This paper introduces a Hexa parallel robot and obstacle collision detection method based on dynamic modeling and a computer vision system.
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