Abstract
Physical contact inevitably occurs during robot interaction with outside environments. A robot should have the ability to detect and distinguish whether a physical interaction between a human and the robot is contact or collision, so as to ensure human safety and improve interaction performance. In this paper, a virtual sensor that can detect and distinguish contact and collision between humans and industrial robots is proposed. Based on the generalized momentum of the robot, two observers with low-pass and band-pass filter characteristics were designed in this virtual sensor to realize the robot collision detection. Using the different frequency distribution ranges of the lighter contact force signal and the heavier collision force signal, the filter parameters in the two observers were appropriately selected to distinguish between collisions and contacts in close interaction between humans and robots. The virtual sensor does not require acceleration information or inverse dynamics calculations. It only needs to sample the motor driving current and position information of the robot joint, and can easily be applied to conventional industrial robots. The experimental results show that the low-pass and band-pass torque observers can detect different force signals in real-time, and the proposed virtual sensor can be used for collision detection and distinction in human–robot interactions.
Highlights
With the rapid development of robotics, the application of robots has expanded from traditional industrial manufacturing to public services, entertainment, and medical care fields
This paper presents a virtual sensor forforce collision detection and adaptability of the robot complex environments, ensuring human safety and improving the the force is controlled thein human causing danger
This paper presents a virtual sensor for collision detection and
Summary
With the rapid development of robotics, the application of robots has expanded from traditional industrial manufacturing to public services, entertainment, and medical care fields. Geravand et al proposed a good method to distinguish contact and collision between humans and robots through directly filtering the residual current of the robot joint motor [16]. Kouris et al proposed a force signal analysis method to improve the real-time performance of distinguishing between contact and collision [18]. Two generalized momentum-based torque observers with low-pass and band-pass filtering characteristics are contained in this virtual sensor It does not require force sensors, does not require acceleration information, and does not need inverse dynamics calculations. Compared with the existing methods, the proposed virtual sensor can detect a collision between a human and a robot in real-time to ensure the safety of the human body, but it can distinguish contact from collision and improve the human–robot interaction performance.
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