A Faster and More Robust Momentum Observer for Robot Collision Detection Based on Loop Shaping Techniques

Duan, Zhongkai; Luo, Zhong; Liu, Yuliang; Wu, Yuqiang; Chen, Wenjie

doi:10.1007/978-981-99-6495-6_10

Cited by 1 publication

(1 citation statement)

References 12 publications

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“…, 2023), numerous observer-based estimation methods have been proposed (De Luca et al. , 2006; Haddadin, 2013; De Luca and Mattone, 2005; Duan et al. , 2023; Ren et al.…”

Section: Introductionmentioning

confidence: 99%

Real-time collision detection based on external torque mutation suppression and time series analysis

Zhang,

Luo,

Liu

et al. 2024

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Purpose As the demand for human–robot collaboration in manufacturing applications grows, the necessity for collision detection functions in robots becomes increasingly paramount for safety. Hence, this paper aims to improve the existing method to achieve efficient, accurate and sensitive robot collision detection. Design/methodology/approach The external torque is estimated by momentum observers based on the robot dynamics model. Because the state of the joints is more accessible to distinguish under the action of the suppression operator proposed in this paper, the mutated external torque caused by joint reversal can be accurately attenuated. Finally, time series analysis (TSA) methods can continuously generate dynamic thresholds based on external torques. Findings Compared with the collision detection method based only on TSA, the invalid time of the proposed method is less during joint reversal. Although the soft-collision detection accuracy of this method is lower than that of the symmetric threshold method, it is superior in terms of detection delay and has a higher hard-collision detection accuracy. Originality/value Owing to the mutated external torque caused by joint reversal, which seriously affects the stability of time series models, the collision detection method based only on TSA cannot detect continuously. The consequences are disastrous if the robot collides with people or the environment during joint reversal. After multiple experimental verifications, the proposed method still exhibits detection capabilities during joint reversal and can implement real-time collision detection. Therefore, it is suitable for various engineering applications.

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“…, 2023), numerous observer-based estimation methods have been proposed (De Luca et al. , 2006; Haddadin, 2013; De Luca and Mattone, 2005; Duan et al. , 2023; Ren et al.…”

Section: Introductionmentioning

confidence: 99%

Real-time collision detection based on external torque mutation suppression and time series analysis

Zhang,

Luo,

Liu

et al. 2024

View full text Add to dashboard Cite

show abstract

A Faster and More Robust Momentum Observer for Robot Collision Detection Based on Loop Shaping Techniques

Cited by 1 publication

References 12 publications

Real-time collision detection based on external torque mutation suppression and time series analysis

Real-time collision detection based on external torque mutation suppression and time series analysis

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