关键词: 碰撞检测；负载补偿；电机力矩误差；动态阈值；机器人

Abstract: In the process of robot human-machine interaction, stable collision detection is the guarantee of human-machine safety and the safety of the equipment itself. Therefore, this paper proposes a robot collision detection method with load and no additional sensors. Through the compensation of the robot dynamics model, the error of the motor torque of each joint of the robot is analyzed, and the load identification and collision detection are realized. In this paper, various parameters of the load are added to the dynamic calculations to compensate for the errors caused by the load on the dynamics calculations. Through the analysis of the torque error of each joint motor, the error extreme value in each speed segment is screened, and the envelope of the upper and lower limits of the error-speed curve is fitted, and the dynamic threshold is set. The simulation results show that the established dynamic compensation model can effectively identify the load, eliminate the interference of the end load, and can accurately realize the collision detection function with the change of the robot's movement speed.

Key words: Collision detection; Load compensation; Motor torque error; Dynamic threshold; Robot