Stable collision detection method is the guarantee of cooperative robot in the process of human-robot interaction. In this paper, a robot collision detection method without additional sensors is proposed. An external moment observer based on generalized momentum deviation is constructed to realize collision detection by the deviation of robot theoretical momentum and actual momentum. Considering the influence of the external torque generated by the robot end load at the joint on the observer, this paper eliminates the interference of the load to the observer by compensating the equal torque generated by the load at the joint. Simulations and experiments demonstrate that the proposed collision observer can effectively eliminate the interference of terminal load and realize the function of collision detection accurately and quickly.
De SantisASicilianoBDe LucaA, et al. An atlas of physical human-robot interaction. Mech Mach Theory2008; 43(3): 253–270.
2.
HaddadinSDe LucaAAlin Albu-SchäfferA.Robot collisions: a survey on detection, isolation, and identification. IEEE Transact Robot2017; 33(6): 1–21.
3.
GaoFGuoWZ.Thinking of the development strategy of robots in China. J Mech Eng2016; 52(07): 1–5.
4.
ZhangXLHanCY.Design and collision experiment of tactile sensing device for cooperative robot. J Beijing Jiaotong Univ2019; 43(4): 88–95.
5.
YaoXXuPPWangHJ.Design of robot collision avoidance security scheme based on depth image detection. Control Engineering of China2017; 24(7): 1514–1518.
6.
PucherFGattringerHMűllerA.Collision detection for flexible link robots using accelerometers. IFAC-Papers OnLine2019; 52(16): 514–519.
7.
RenTYDongYFWuD, et al. Collision detection and identification for robot manipulators based on extended state observer. Control Engineering Practice2018; 79: 144–153.
8.
LiWHanYWuJH, et al. Collision detection of robots based on a force/torque sensor at the bedplate. IEEE/ASME Transactions on Mechatronics2020; 25(5): 2565–2573.
9.
MalzahnJBertramT.Collision detection and reaction for a multi-elastic-link robot arm. IFAC Proceed Vol2014; 47(3): 320–325.
10.
QiuSLiZHeW, et al. Brain-machine interface and visual compressive sensing-based teleoperation control of an exoskeleton robot. IEEE Transact Fuzzy Sys2017; 25(1): 58–69.
11.
TianYZChenZJiaTG, et al. Sensorless collision detection and contact force estimation for cooperative robots based on torque observer. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 03-07December2016.
12.
ZhangXZhaoJZhangM, et al. Disturbance recognition and collision detection of manipulator based on momentum observer. Sensors2020; 20(15): 4187–4202.
13.
LiYLiYZhuM, et al. A nonlinear momentum observer for sensorless robot collision detection under model uncertainties. Mechatronics2021; 78: 102603.
14.
KimJ.Collision detection and reaction for a collaborative robot with sensorless admittance control. Mechatronics2022; 84: 102811.
15.
CaiCSunCSongY, et al. Bone collision detection method for robot assisted fracture reduction based on force curve slope. Comp Methods Prog Biomed2021; 209: 106315.
16.
FawazKMerzoukiROuld-BouamamaB.Model based real time monitoring for collision detection of an industrial robot. Mechatronics2009; 19(5): 695–704.
17.
ZhangZZhangYHanR, et al. A generalized continuous collision detection framework of polynomial trajectory for mobile robots in cluttered environments. IEEE Robot Autom Lett2022; 7(4): 9810–9817.
18.
HanLXuWLiB, et al. Collision detection and coordinated compliance control for a dual-arm robot without force/torque sensing based on momentum observer. IEEE/ASME Transact Mech2019; 4(5): 2261–2272.
FanQTaoBGongZ, et al. Fast global collision detection method based on feature-point-set for robotic machining of large complex components. IEEE Transact Autom Sci Eng2023; 20(1): 470–481.
21.
ParkCPanJManochaD.Real-time optimization-based planning in dynamic environments using GPUs. 2013 IEEE International conference on robotics and automation, Karlsruhe, Germany, 06-10May2013.
22.
YangCWangXChengL, et al. Neural-learning-based telerobot control with guaranteed performance. IEEE Transact Cyber2017; 47(10): 3148–3159.
23.
TaoZSongYWuH, et al. Hybrid collision detection perceptron of the robot in the fusion application. Fusion Eng Design2020; 160(3): 111800.
24.
HeoYJKimDLeeW, et al. Collision detection for industrial cooperative robots: a deep learning approach. IEEE Robotics and automation letters2019; 4(2): 740–746.
25.
KimDLimDParkJ.Transferable collision detection learning for cooperative manipulator using versatile modularized neural network. IEEE Transact Robot2022; 38(4): 2426–2445.
26.
ZhangZQianKSchullerBW, et al. An online robot collision detection and identification scheme by supervised learning and Bayesian decision theory. IEEE Transact Autom Sci Eng2021; 18(3): 1144–1156.
27.
ParkKMParkYYoonS, et al. Collision detection for robot manipulators using unsupervised anomaly detection algorithms. IEEE Transact Mech2022; 27(5): 2841–2851.
28.
DimeasFAvendano-ValenciaLDAspragathosNA.Human-robot collision detection and identification based on fuzzy and time series modelling. Robotica2015; 33(9): 1886–1898.
