Collision Detection of Robots Based on a Force/Torque Sensor at the Bedplate
Collision Detection of Robots Based on a Force/Torque Sensor at the Bedplate
复制标题
基于底座力/扭矩传感器的机器人碰撞检测
DOI：
10.1109/tmech.2020.2995904
复制
发表时间：
2020-10-01
影响因子：
6.4
通讯作者：
Xiong, Zhenhua
中科院分区：
文献类型：
--
作者：
Li, Wang;Han, Yong;Xiong, Zhenhua
对于与人类共享工作空间的协作机器人来说，物理的人机交互是不可避免的。因此，它必须能够检测碰撞。通常的碰撞检测算法都是基于机器人的动态模型，而机器人经常遭受复杂的关节摩擦。由于摩擦模型的不确定性，导致碰撞检测算法的灵敏度较低。本文提出了一种新的碰撞检测方案，该方案基于机器人的动力学模型，计算台板处的反作用力/扭矩（F/T）。该动态模型可以避免对关节摩擦进行建模。为了识别机器人的动力学模型，介绍了一种利用F/T传感器测量机器人台板处的力和扭矩的系统方法。此外，还提出了一种F/T传感器信号耦合补偿方法。该方法在六自由度协作机器人上进行了验证。最后，在试验台和人体上进行了碰撞检测实验。结果表明，所提出的方案是可靠的，可以通过简单的反应策略有效地减小冲击力。
For a collaborative robot that shares the workspaces with humans, physical human-robot interactions are unavoidable. Therefore, it must be capable to detect collisions. Usual collision detection algorithms are based on the robot's dynamic model that frequently suffers from complex joint frictions. The uncertainty of commonly modeled frictions could lead to low sensitivity of the collision detection algorithm. This article presents a novel collision detection scheme based on the robot's dynamic model that calculates the reaction force/torque (F/T) at the bedplate. This dynamic model could avoid modeling joint frictions. To identify the dynamic model, a systematic procedure by measuring the force and torque at the robot's bedplate with an F/T sensor is introduced. Moreover, a compensation method for the F/T sensor signal coupling is developed. The proposed identification procedure has been demonstrated on a six-degree-of-freedom collaborative robot. Finally, collision detection experiments are conducted on a test-bed and humans. The results show that the proposed scheme is reliable and can effectively reduce the impact force with simple reaction strategies.