基于力矩误差的净化机器人碰撞检测技术

Collision Detection of Clean Robot Based on Torque Fault

为了保证净化机器人运行过程中安全性,避免造成较大损失,提出了一种基于力矩误差的净化机器人碰撞检测技术。该方法不需要额外传感器,只需以机器人位移、速度、加速度为输入变量,机器人所受到的干扰力矩为输出变量,通过给干扰力矩设定阈值来判断碰撞是否发生。在此基础上,通过引入系统误差的方法对算法进行了改进。最后通过ADAMS及MATLAB进行了仿真与分析,结果表明算法能够有效地、实时地检测碰撞,并且改进后的算法在阈值设定上更为简单。

In order to protect the clean robot and avoid bigger losses in the operation process,we developed a collision detection method of clean robot based on torque fault.In the introduced method,the extra sensor is not necessary,just used displacement,velocity and accelerant as the input,disturbance torque as output.If the disturbance torque is more than the given threshold,collision is happened.Based on this,we improved the method though introducing system error.At the end,simulation results are presented to verify the effectiveness and reliability of the proposed collision detection method.And it is easier to set threshold using the improving method.