一种轻型模块化协作机器人碰撞检测算法

发布时间：2018-06-22 01:19

本文选题：协作机器人 + 碰撞检测　；参考：《天津大学学报(自然科学与工程技术版)》2017年11期

【摘要】：为了实现人与协作机器人的安全协作,提出了一种不增加额外传感器和改变控制系统复杂性的碰撞检测算法.基于动力学模型和动量偏差构造了一个2阶外力矩观测器以实现对关节外力矩实际值的观测,并对观测值进行滤波处理,减小系统采样噪声对观测值的影响.考虑到关节外力矩包含外部碰撞力等效作用在关节上的力矩和谐波减速器产生的关节摩擦力矩,采用Stribeck摩擦模型对观测值中的关节摩擦力矩部分进行辨识,使观测值只受外部碰撞力影响.最后,基于一类轻型模块化协作机器人对该算法进行了仿真与实验,结果表明:观测值能够实时跟随外力矩变化,机器人正常运行时其保持在预设的阈值范围内,发生碰撞时发生突变超出阈值,从而验证了该算法的正确性.
[Abstract]:In order to realize the safe cooperation between human and cooperative robot, a collision detection algorithm is proposed, which does not add extra sensors and change the complexity of the control system. Based on the dynamic model and momentum deviation, a 2-order external torque observer is constructed to realize the observation of the actual value of the joint moment, and the observed value is filtered to reduce the influence of the sampling noise on the observed value. Considering that the external joint torque includes the equivalent moment of the external impact force on the joint and the joint friction moment generated by the harmonic reducer, the Stribeck friction model is used to identify the joint friction moment part of the observed value. The observed value is only affected by the external collision force. Finally, the algorithm is simulated and tested based on a class of lightweight modular cooperative robots. The results show that the observed values can follow the change of external torque in real time, and the robot can keep in the range of preset threshold when it is running normally. The results show that the algorithm is correct.
【作者单位】：天津大学机构理论与装备设计教育部重点实验室;天津扬天科技有限公司;
【基金】：天津市智能制造重大专项项目(16ZXZNGX00140)~~
【分类号】：TP242.2

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