1B30035H01 WESTINGHOUSE

Based on sensorless collision detection,firstly,through the detection of the single-joint motor current when the human and the collaborative robot are in contact,it is determined whether the collaborative robot is in soft contact or collision contact with the human.Secondly,the fusion algorithm is designed according to the current actual value obtained by the current motor feedback and the ideal value in the dynamic model calculation to generate a time-varying electric collision detection threshold,identify accidental collision or human conscious soft contact,and solve the problem between humans and collaborative robots.Post-contact safety crash issues.

基于无传感器的碰撞检测，首先，通过人与协作机器人接触时单关节电机电流的检测，来判定协作机器人与人是软接触或是碰撞接触。其次，根据当前的电机反馈得到的电流实际值与动力学模型计算中的理想值来设计融合算法，产生时变的电力碰撞检测阈值，辨识事故碰撞或人有意识的软接触，解决人与协作机器人接触后的安全性碰撞问题。