Dachao Mao
ABSTRACT
With the improvement of robot intelligence, robot has gradually become a work assistant in home and industrial environment. When robots share their workspace with humans, they are expected to detect collision and respond quickly and safely, thus it is necessary to limit the harm caused by physical contact. In this paper, a collision detection method based on dynamic model of robot is proposed. This method does not rely on the external extended sensors. The external collision can be detected quickly by computing the error between predicted torque and actual torque and the information of impacted joint can be provided. Firstly, the dynamic model of robot is established, and then the inertia parameters of the installed load at the end of the robot are estimated. An adaptive collision threshold adjustment method is proposed. Comparing joint torque calculated by the whole dynamic model with actual joint torque estimated by the current of the joint motor, the collision can be detected quickly. At last, the method is validated on EFORT-ER3B robot. The results show that this method can effectively guarantee the security of physical interaction when humans cooperate with robot without any external sensor.
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Index Terms
- Sensorless Real Time Collision Detection for Robotic Manipulators
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