In this paper, however, we propose an emergency stop algorithm employing a new regression method that exhibits faster responses than the fuzzy lookup table www.selleckchem.com/products/Bosutinib.html method. This regression method is also more suitable for use in an emergency stop algorithm than other typical regression methods such as ridge regression and support vector regression. To implement our algorithm, we generate a function model of motor positions and measured distances using the new regression method. From this function model of sample data pairs, the distance value corresponding to a specific motor position can be predicted. The algorithm can then be used to determine whether the manipulator should stop by comparing the real distance value (as measured by the sensor) to the estimated distance value (as calculated by the function model).
We further introduce our system in Section 2, demonstrate a new regression method in Section 3, and assess the experimental performance of our proposed system in Section 4.2.?Efficient Emergency Stop SystemIn this section, we propose an intelligent emergency stop system for manipulators using distance-measuring sensors.2.1. Efficient Emergency Stop AlgorithmFigure 1 shows the flowchart of our proposed efficient emergency stop algorithm. First, the proposed algorithm ascertains whether an object is located in a danger area via the distance values measured by the sensors. This danger area is established by a predetermined danger distance, and can be set as a predefined fixed value, or it can be a variable area that depends on the location of the sensor or operating velocity of the manipulator.
Figure 1.Flowchart of the proposed efficient emergency stop algorithm. After an object is detected in the danger area, the algorithm determines whether the object is an obstacle or a part of the manipulator.If one or more objects are sensed in the danger area, the algorithm AV-951 verifies whether the detected object is a part of the manipulator (e.g., a link) or an obstacle that could cause a collision with the machine. If the detected object is judged to be an obstacle, the manipulator is shut down.2.2. Consideration of the Direction of MovementIn this section, we consider the direction of movement of the manipulator in order to develop an efficient emergency stop algorithm. Obviously, accidents can occur if there is an obstacle��e.g.
, a www.selleckchem.com/products/Temsirolimus.html person��in the manipulator’s path; however, the manipulator does not need to stop when it does not move towards the obstacle.Hence, our emergency stop algorithm, which considers the direction of motion of the manipulator, not only solves the safety problem but also helps to establish a more efficient operation of the manipulator.Figure 2 shows the danger area of a link, which is generated only in the moving direction of the manipulator.