Impact Force Reduction of Manipulators Using a Dynamic Acceleration Polytope and Flexible Collision Detection Sensor
Impact Force Reduction of Manipulators Using a Dynamic Acceleration Polytope and Flexible Collision Detection Sensor
复制标题
使用动态加速多面体和柔性碰撞检测传感器减少机械手的冲击力
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Takayuki Takahashi
中科院分区：
文献类型：
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作者：
Seonghee Jeong;Takayuki Takahashi
物理服务机械手与人之间的碰撞通常产生巨大的冲击力，这可能导致伤害并限制机械手的操作速度。本文开发了一种有效的冲击力减小方法，该方法结合了最佳制动方法，即，动态加速度多面体制动（DAPB），以及柔性碰撞检测传感器，即，空气压力碰撞检测传感器（APCS）。DAPB利用动态加速度多面体计算最大制动力矩，该多面体代表机械手的加速能力，包括冗余机械手，并在力矩限制范围内快速减速冲击速度。APCS由柔性管和压力传感器组成，可以通过测量气压波快速检测碰撞。它提供了减震器功能和足够的制动时间。将DAPB和APCS相结合，可以有效地减小机械手碰撞产生的冲击力。通过仿真和实验验证了该方法的有效性，并通过碰撞实验验证了该方法与传统制动方法相比，碰撞力降低了28%。
A collision between a physical service manipulator and a human being generally generates massive impact force, which can cause injury and limit the operation speed of the maipulator. This paper develops an effective impact force reduction method that combines an optimal braking method, i.e., dynamic acceleration polytope braking (DAPB), and a flexible collision detection sensor, i.e., air pressure collision detection sensor (APCS). DAPB calculates the maximum braking torque using a dynamic acceleration polytope that represents the acceleration ability of a manipulator, including a redundant one, and decelerates impact velocity quickly whitin the range of torque limits. The APCS consists of a flexible tube and a pressure sensor, and can detect collisions quickly by measuring an air pressure wave. It provides a shock absorber function and sufficient time for the braking. Combining DAPB and APCS can effectively reduce the impact force due to the collision of a manipulator. Several simulations and experiments are performed to confirm the effectiveness of the proposed method, and a 28% impact force reduction was confirmed by a collision experiment, compared with that of conventional braking methods.