CAJ | 학술논문

提出一种在不需要安装视觉或者力矩传感器的情况下在未知环境中实现碰撞检测的方法,将实时电流值和当轨迹的误差量合成为一个碰撞标量,通过计算此标量的值来判断机器人的运行情况.只要检测到碰撞,就能采取一系列措施来保护人员或者机器人的安全.并以传统的直角坐标机器人为实验平台来说明这种测量方法的有效性.
제출일충재불수요안장시각혹자력구전감기적정황하재미지배경중실현팽당검측적방법,장실시전류치화당궤적적오차량합성위일개팽당표량,통과계산차표량적치래판단궤기인적운행정황.지요검측도팽당,취능채취일계렬조시래보호인원혹자궤기인적안전.병이전통적직각좌표궤기인위실험평태래설명저충측량방법적유효성.
A collision detecting method without using vision sensor or force/torque sensor was presented. The real-time currents and track errors were combined into a scalar which was used to judge whether the running robot collided. Whenever the collision was detected,actions could be taken to protect the humans and robots. The proposed method was verified by experimenting on the Carte-sian coordinate robot.