Design and Implementation of Robot Collision Observer
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摘要: 为了检测机器人与周围环境的碰撞，采用基于动力学模型的广义动量与实际动量偏差设计碰撞观测器以检测碰撞力。该观测器可在不增加额外传感器、加速度信息的情况下，仅通过机器人动力学模型、电机编码器反馈的位置、速度与驱动器反馈的驱动力矩计算机器人在当前运动状态下的理论动量与实际动量的偏差间接获取碰撞力的大小与方向，通过合理设定安全阈值就可以实现机器人的碰撞检测。仿真和实验表明，该碰撞观测器可以有效地获取碰撞力信息，并对高频噪声不敏感，参数调节方便，适用于静态与动态两种情况的碰撞检测。提高机器人动力学模型参数与关节摩擦力系数可提高观测器检测碰撞力信息的精度，减小安全阈值，提高碰撞检测的灵敏度。Abstract: In order to detect the collision between the robot and its surroundings, the collision observer is designed based on the deviation between the generalized momentum of the dynamic model and the actual momentum to detect the collision force. The observer can calculate the theoretical and actual kinetic energy of the robot under the current motion state only using the robot dynamics model, the position and speed of the motor encoder feedback, and the driving torque fed back by the driver without adding additional sensors and acceleration information. The momentum deviation indirectly reflects the magnitude and direction of the collision force, and the collision detection of the robot can be realized by appropriately setting the safety threshold. Simulation and experiments show that the collision detection algorithm can effectively acquire the collision force information, is insensitive to high frequency noise, and has convenient parameter adjustment. It is suitable for collision detection in both static and dynamic situations. Improving the robot dynamics model parameters and the joint friction coefficient can further improve the observer's detection accuracy of collision force information, reduce the safety threshold, and improve the sensitivity of collision detection.
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Key words:
- robot /
- dynamic model /
- collision detection /
- observe
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表 1 机器人机构参数
连杆 长度/mm 连杆 长度/mm 连杆${ {U_1 - D_1} }$ 866.02 连杆${ {U_2 - D_2} }$ 866.02 连杆${ {U_3 - D_3} }$ 686.01 连杆${ {U_4 - D_4} }$ 866.03 连杆${ {U_5 - D_5} }$ 866.04 连杆${ {U_6 - D_6} }$ 686.01 尾支杆 784.11 
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