CAJ | 학술논문

针对机器人易与进入其工作空间的人或物体发生碰撞的问题，提出一种基于广义动量偏差观测器的碰撞检测方法来提高机器人的安全性。根据机械手广义动量与外力矩之间具有解耦性的特点，该检测算法设计了动量偏差观测器来间接获取碰撞力，并通过性能调整函数进一步改进观测器动态响应特性，进而判定碰撞是否发生。该碰撞检测算法无需外加传感器，也无需计算或检测加速度信息，可以有效避免加减速过程对碰撞检测的影响，只需检测机器人关节电机的驱动电流及编码器反馈的位置信息，即可实现碰撞实时检测。仿真和实验表明，该算法在实时性方面达到了预期要求，加减速过程对碰撞检测的扰动很小，而且能提供碰撞发生的大致位置和方向信息，对进一步的安全控制具有重要意义。
침대궤기인역여진입기공작공간적인혹물체발생팽당적문제，제출일충기우엄의동량편차관측기적팽당검측방법래제고궤기인적안전성。근거궤계수엄의동량여외력구지간구유해우성적특점，해검측산법설계료동량편차관측기래간접획취팽당력，병통과성능조정함수진일보개진관측기동태향응특성，진이판정팽당시부발생。해팽당검측산법무수외가전감기，야무수계산혹검측가속도신식，가이유효피면가감속과정대팽당검측적영향，지수검측궤기인관절전궤적구동전류급편마기반궤적위치신식，즉가실현팽당실시검측。방진화실험표명，해산법재실시성방면체도료예기요구，가감속과정대팽당검측적우동흔소，이차능제공팽당발생적대치위치화방향신식，대진일보적안전공제구유중요의의。
In view of the fact that robots are easy to collide with humans or obstacles which go into its workspace, a collision detection algorithm based on generalized momentum deviation was proposed to im-prove the safety of robots. According to the decoupling performance between generalized momentum and external torque of manipulator, a momentum deviation observer was firstly designed to obtain the impact force. Then, a performance regulating function was introduced to improve its dynamic response character-istics. Once impact force was detected, it is possible to judge whether the collision occurred. With this algorithm, collision can be detected in real time, and can effectively avoid the influence of acceleration or deceleration, without any additional external sensors or acceleration of the manipulator, simply by meas-uring the motor current and the position got by encoders of each joint. Simulation and experiment results show that the algorithm has reached the expected requirements in real-time performance. And the dis-turbances caused by accelerating and decelerating of manipulator are also very small. Moreover, it pro-vides an approximate position and direction of the impact force which has important significance for fur-ther security reaction control.