1B30023H02 WESTINGHOUSE

Sensor-based collision detection includes electronic skin-based detection,joint torque sensor-based or base and end-based six-dimensional sensors to detect collisions.In addition to this type of collision detection method,most of the other collision detection needs to construct the dynamic model of the collaborative robot,estimate the external force or construct the observer.A collision occurs when an external force or observer detects a disturbance.

基于传感器的碰撞检测有基于电子皮肤的检测方式，基于关节扭矩传感器或基于底座、末端六维传感器的方式检测碰撞。除了这类碰撞检测方法，其他的碰撞检测大多需要构建协作机器人的动力学模型，估计外力或构建观测器。当外力或观测器监测到干扰时则表示碰撞发生。