Details
| Original language | English |
|---|---|
| Journal | IEEE transactions on robotics |
| Publication status | E-pub ahead of print - 2026 |
Abstract
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However, they require methods for contact detection and reaction while avoiding singularities and self-collisions. We address this issue and present SafePR - a unified approach for the detection and localization, including the distinction between collision and clamping to perform a reaction that is safe for humans and feasible for PRs. Our approach uses information from the encoders and motor currents to estimate forces via a generalized-momentum observer. Neural networks and particle filters classify and localize the contacts. We introduce reactions with redundancy resolution to avoid self-collisions and type-II singularities. Our approach detected and terminated 72 real-world collision and clamping contacts with end-effector speeds of up to 1.5m/s, each within 25-275ms. The forces were below the thresholds from ISO/TS 15066. By using built-in sensors, SafePR enables safe interaction with already assembled PRs without the need for new hardware components.
Keywords
- compliance and impedance control, parallel robots, Physical human-robot interaction, redundant robots
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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In: IEEE transactions on robotics, 2026.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - SafePR
T2 - Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution
AU - Mohammad, Aran
AU - Habich, Tim Lukas
AU - Seel, Thomas
AU - Schappler, Moritz
N1 - Publisher Copyright: © 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However, they require methods for contact detection and reaction while avoiding singularities and self-collisions. We address this issue and present SafePR - a unified approach for the detection and localization, including the distinction between collision and clamping to perform a reaction that is safe for humans and feasible for PRs. Our approach uses information from the encoders and motor currents to estimate forces via a generalized-momentum observer. Neural networks and particle filters classify and localize the contacts. We introduce reactions with redundancy resolution to avoid self-collisions and type-II singularities. Our approach detected and terminated 72 real-world collision and clamping contacts with end-effector speeds of up to 1.5m/s, each within 25-275ms. The forces were below the thresholds from ISO/TS 15066. By using built-in sensors, SafePR enables safe interaction with already assembled PRs without the need for new hardware components.
AB - Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However, they require methods for contact detection and reaction while avoiding singularities and self-collisions. We address this issue and present SafePR - a unified approach for the detection and localization, including the distinction between collision and clamping to perform a reaction that is safe for humans and feasible for PRs. Our approach uses information from the encoders and motor currents to estimate forces via a generalized-momentum observer. Neural networks and particle filters classify and localize the contacts. We introduce reactions with redundancy resolution to avoid self-collisions and type-II singularities. Our approach detected and terminated 72 real-world collision and clamping contacts with end-effector speeds of up to 1.5m/s, each within 25-275ms. The forces were below the thresholds from ISO/TS 15066. By using built-in sensors, SafePR enables safe interaction with already assembled PRs without the need for new hardware components.
KW - compliance and impedance control
KW - parallel robots
KW - Physical human-robot interaction
KW - redundant robots
UR - http://www.scopus.com/inward/record.url?scp=105030699066&partnerID=8YFLogxK
U2 - 10.1109/TRO.2026.3666147
DO - 10.1109/TRO.2026.3666147
M3 - Article
AN - SCOPUS:105030699066
JO - IEEE transactions on robotics
JF - IEEE transactions on robotics
SN - 1552-3098
ER -