• CN: 11-2187/TH
  • ISSN: 0577-6686

Journal of Mechanical Engineering ›› 2024, Vol. 60 ›› Issue (21): 99-111.doi: 10.3901/JME.2024.21.099

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Robot Collision Detection Based on Bandpass Filtered Second-order Momentum Observer

XIE Feng1, LI Hongyang1,2, ZHEN Shengchao3, WEI Huawei1   

  1. 1. School of Electrical Engineering and Automation, Anhui University, Hefei 230601;
    2. China Telecom Co., Ltd. Anhui Branch, Hefei 230061;
    3. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009
  • Received:2023-11-02 Revised:2024-05-25 Published:2024-12-24

Abstract: A robot collision detection method based on Butterworth bandpass filtering to construct a second-order momentum observer is proposed to address the issue of possible collisions between six axis industrial robots and the surrounding environment and humans during operation. By decoupling the generalized momentum and external torque of robots, the observation index of the second-order momentum observer is defined as the deviation value between the theoretical momentum and actual momentum of the robot. A collision detection algorithm based on the second-order momentum observer is derived, and a Butterworth bandpass filter is used to optimize the observer gain to reduce errors caused by noise. The effectiveness of this collision observer is verified through simulation. Then, a particle swarm optimization algorithm based on decreasing weights is applied to identify the overall dynamic parameters of the six-axis robot, and the least squares method is used to sequentially solve the minimum parameter set of each joint. Finally, dynamic parameter identification and collision detection experiments are conducted on the ROC6 six axis industrial robot platform. The experimental results show that when the robot collides during operation, the momentum observer designed can detect it in about 0.3 s, and the detected collision force threshold is 21.5 N, which can effectively protect the safety of humans and robots.

Key words: six axis industrial robot, collision detection, momentum observer, parameter identification

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