机械科学与技术2025，Vol.44Issue(2)：305-312,8.DOI:10.13433/j.cnki.1003-8728.20230199
协作机器人利用二阶前馈动量观测器的碰撞检测方法
A Collision Detection Method for Cooperative Robot Using Second-order Feedforward Momentum Observer
摘要
Abstract
A cooperative robot may collide with the surrounding environment and human beings during its work.Therefore,a collision detection method based on the improved second-order feedforward momentum observer was proposed.Firstly,the dynamic model of the collaborative robot is established,and a second-order momentum observer is constructed based on the deviation of the actual momentum and theoretical momentum of the robot.The constructed observer model uses the static friction-Coulomb viscous friction model to compensate the joint friction,which improves the accuracy of the robot's dynamic model.Simulation was carried out to verify the effectiveness of the collision observer.Finally,the zero-force drag model of the robot's collision response is established.Experiments on a ROC6 robot platform were carried out to verify the constructed observer.The experimental results show that the constructed second-order feedforward momentum observer can detect and respond to robot collisions within 0.3 s.关键词
协作机器人/碰撞检测/动量观测器/零力拖动Key words
cooperative robots/collision detection/momentum observer/zero-force drag分类
计算机与自动化引用本文复制引用
李红杨,谢峰,甄圣超,刘建军..协作机器人利用二阶前馈动量观测器的碰撞检测方法[J].机械科学与技术,2025,44(2):305-312,8.基金项目
国家自然科学基金项目(51975003) （51975003）
