Collision detection method for industrial robot based on envelope-like lines

摘要

Purpose Successful sensorless collision detection by a robot depends on the accuracy with which the external force/torque can be estimated. Compared with collaborative robots, industrial robots often have larger parameter values of their dynamic models and larger errors in parameter identification. In addition, the friction inside a reducer affects the accuracy of external force estimation. The purpose of this paper is to propose a collision detection method for industrial robots. The proposed method does not require additional equipment, such as sensors, and enables highly sensitive collision detection while guaranteeing a zero false alarm rate.