机器人碰撞检测方法研究进展

An Overview on Collision Detection Algorithm of Robots

随着机器人应用与发展,机器人的工作环境变得更复杂,人机协作更加密切,安全也成为其重要指标之一。为了避免机器人发生碰撞或减少碰撞带来的损失,围绕非接触式和接触式两类碰撞检测方法和安全防护技术,综述国内外机器人碰撞检测方法。给出了当前机器人安全防护的碰撞检测方法的研究进展以及应用情况,分析各种方法的优点和缺点,并对协作机器人的安全防护技术进行了展望。

With the application and development of robots,the working environment of robots has become more complex,and human-robot collaboration is more closely.Safety has also become one of the important indexes.In order to avoid collision or reduce the loss caused by collision,this paper reviews the collision detection methods of robots at home and abroad,focusing on the two types of non-contact and contact in collision detection methods and safety protection technologies.The current research and application status of collision detection methods for robot safety protection are given,and the advantages and disadvantages of each method are analyzed,and prospects are made for the safety protection technology of cooperative robots.