title: Intelligent emergency stop algorithm for a manipulator using a new regression method.
abstract: In working environments with large manipulators, accidental collisions can cause severe personal injuries and can seriously damage manipulators, necessitating the development of an emergency stop algorithm to prevent such occurrences. In this paper, we propose an emergency stop system for the efficient and safe operation of a manipulator by applying an intelligent emergency stop algorithm. Our proposed intelligent algorithm considers the direction of motion of the manipulator. In addition, using a new regression method, the algorithm includes a decision step that determines whether a detected object is a collision-causing obstacle or a part of the manipulator. We apply our emergency stop system to a two-link manipulator and assess the performance of our intelligent emergency stop algorithm as compared with other models.
authors.affiliation: The School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 120-749, Korea. 1000minkyu@yonsei.ac.kr
authors.forename: Minkyu
authors.initials: M
authors.lastname: Cheon
authors.forename: Jeisung
authors.initials: J
authors.lastname: Lee
authors.forename: Wonju
authors.initials: W
authors.lastname: Lee
authors.forename: Chang-Ho
authors.initials: CH
authors.lastname: Hyun
authors.forename: Mignon
authors.initials: M
authors.lastname: Park