肖聚亮¹, 田志伟¹, 洪鹰¹, 王国栋¹, 张智涛², 刘宏业², 段文斌²
AuthorsHTML:肖聚亮¹, 田志伟¹, 洪鹰¹, 王国栋¹, 张智涛², 刘宏业², 段文斌²
AuthorsListE:Xiao Juliang¹, Tian Zhiwei¹, Hong Ying¹, Wang Guodong¹, Zhang Zhitao², Liu Hongye², Duan Wenbin²
AuthorsHTMLE:Xiao Juliang¹, Tian Zhiwei¹, Hong Ying¹, Wang Guodong¹, Zhang Zhitao², Liu Hongye², Duan Wenbin²
Unit:1. 天津大学机构理论与装备设计教育部重点实验室，天津 300350；2. 天津扬天科技有限公司，天津 300073
Unit_EngLish:1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China
2．Tianjin Yangtian Technology Limited Company, Tianjin 300073, China
Abstract_Chinese:为了实现人与协作机器人的安全协作, 提出了一种不增加额外传感器和改变控制系统复杂性的碰撞检测算法．基于动力学模型和动量偏差构造了一个2阶外力矩观测器以实现对关节外力矩实际值的观测, 并对观测值进行滤波处理, 减小系统采样噪声对观测值的影响．考虑到关节外力矩包含外部碰撞力等效作用在关节上的力矩和谐波减速器产生的关节摩擦力矩, 采用Stribeck摩擦模型对观测值中的关节摩擦力矩部分进行辨识, 使观测值只受外部碰撞力影响．最后, 基于一类轻型模块化协作机器人对该算法进行了仿真与实验, 结果表明：观测值能够实时跟随外力矩变化, 机器人正常运行时其保持在预设的阈值范围内, 发生碰撞时发生突变超出阈值, 从而验证了该算法的正确性．
Abstract_English:In order to realize safe human-robot collaboration，a collision detection algorithm was proposed without using extra sensors and increasing the system complexity. A second-order external torque observer was established based on the dynamics and momentum deviation to follow the actual value of external torque on each joint，and a filter was also added into the observer to reduce the influence of sampling noise. Considering that external torque contains the equivalent moment of impact force and friction torque produced by harmonic drive，Stribeck friction model was used to identify the friction torque on each joint，as a result of which the observed value was affected only by impact force. At last，the algorithm was simulated and experimented based on a light and modular cooperative robot. Results show that the observed value can follow the external torque in real time; it is kept in the preset threshold range during normal operation and exceeds the threshold when a collision occurs，which illustrates the correctness of this algorithm.
Keyword_Chinese:协作机器人; 碰撞检测; 外力矩观测器; 动量偏差; 摩擦辨识
Keywords_English:cooperative robot; collision detection; external torque observer; momentum deviation; friction identification

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