摘要
为了保证机器人在交互过程中的安全性,同时提高碰撞检测的性价比和降低系统复杂性,本文在无需外部传感器(sensorless)的情况下,通过检测机器人各关节电机电流间接实现机器人与环境之间的碰撞检测.提出了一种机器人碰撞力计算模型,并给出了模型所用的通用6R机器人雅克比矩阵的求解方法.针对直接通过碰撞力检测碰撞会引入加速度噪音干扰的问题,提出了基于机器人能量变化机理的碰撞检测算子,该碰撞检测算子不需要计算加速度,只需要关节扭矩、位置和速度即可计算,但该算子不能应用于机器人速度为0的情况.本文在REBot-V-6R-650实验平台上进行了碰撞实验,实验结果表明,该碰撞检测方法可以安全有效地检测出碰撞,即在造成伤害之前就能检测出碰撞.
In order to guarantee the security during robot manipulation, and to reduce cost and complexity for the collision detection system, the sensorless collision detection is used according to the joints motor＇s current. We studied the robot collision force model and the solving method for general 6R manipulator＇ s Jacobian. For the problem that direct calculation of the collision force will introduce noise as calculation of acceleration, we presented a new operator to detect collision based on total energy of the robot manipulator. The operator needs only torque, position and velocity of all joints but doesn＇t need acceleration. However, the operator can not be used when robot＇s speed is zero. Experimental results on collision with REBotV6R650 manipu lator are reported. The experimental results show that the method can detect safely and effectively collision, in other words, the collision has been detected before it causes harm.
出处
《测试技术学报》
2013年第3期254-259,共6页
Journal of Test and Measurement Technology
基金
国家自然科学基金项目资助项目(51175084)
关键词
机器人
碰撞检测
动力学
雅克比
碰撞力
robot
collision detection
dynamics
Jacobian
collision force
