|本期目录/Table of Contents|

[1]吴海彬,李实懿,吴国魁. 基于动量偏差观测器的机器人碰撞检测算法[J].电机与控制学报,2015,19(05):97-104.[doi:10. 15938/j. emc.2015.05.014]
 WU Hai-bin,LI Shi-yi,WU Guo-kui. Collision detection algorithm for robot manipulator based onmomentum deviation observer[J].,2015,19(05):97-104.[doi:10. 15938/j. emc.2015.05.014]
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
19
期数:
2015年05
页码:
97-104
栏目:
出版日期:
2015-05-15

文章信息/Info

Title:
 Collision detection algorithm for robot manipulator based on
momentum deviation observer
作者:
 吴海彬李实懿吴国魁
 福州大学机械工程及自动化学院,福建福州350108
Author(s):
 WU Hai-binLI Shi-yiWU Guo-kui
 College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108,China
关键词:
 机器人碰撞检测动量偏差观测器碰撞方位
Keywords:
 Keywords:robot manipulator collision detectionmomentumdeviation observer position of the impact force
分类号:
TP 24
DOI:
10. 15938/j. emc.2015.05.014
文献标志码:
A
摘要:
 摘要:针对机器人易与进入其工作空间的人或物体发生碰撞的问题,提出一种基于广义动量偏差
观测器的碰撞检测方法来提高机器人的安全性。根据机械手广义动量与外力矩之间具有解耦性的
特点,该检测算法设计了动量偏差观测器来间接获取碰撞力,并通过性能调整函数进一步改进观测
器动态响应特性,进而判定碰撞是否发生。该碰撞检测算法无需外加传感器,也无需计算或检测加
速度信息,可以有效避免加减速过程对碰撞检测的影响,只需检测机器人关节电机的驱动电流及编
码器反馈的位置信息,即可实现碰撞实时检测。仿真和实验表明,该算法在实时性方面达到了预期
要求,加减速过程对碰撞检测的扰动很小,而且能提供碰撞发生的大致位置和方向信息,对进一步
的安全控制具有重要意义。
Abstract:
 Abstract:In view of the fact that robots are easy to collide with humans or obstacles which go into its
workspace,a collision detection algorithm based on generalized momentum deviation was proposed to im-
prove the safety of robots. According to the decoupling performance between generalized momentum and
external torque of manipulator,a momentum deviation observer was firstly designed to obtain the impact
force. Then,a performance regulating function was introduced to improve its dynamic response character-
istics. Once impact force was detected,it is possible to judge whether the collision occurred. With this
algorithm,collision can be detected in real time,and can effectively avoid the influence of acceleration or
deceleration,without any additional external sensors or acceleration of the manipulator, simply by meas-
uring the motor current and the position got by encoders of each joint. Simulation and experiment results
show that the algorithm has reached the expected requirements in real一time performance. And the dis-
turbances caused by accelerating and decelerating of manipulator are also very small. Moreover, it pro-
vides an approximate position and direction of the impact force which has important significance for fur-
ther security reaction control.

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备注/Memo

备注/Memo:
 基金项目:国家自然科学基金(51175084)
更新日期/Last Update: 2015-07-24