首页>
外国专利>
METHOD FOR ENHANCED COLLISION COLLECTION OF A ROBOT WITH ITS ENVIRONMENT, SYSTEM AND COMPUTER PROGRAM PRODUCT IMPLEMENTING THE METHOD
METHOD FOR ENHANCED COLLISION COLLECTION OF A ROBOT WITH ITS ENVIRONMENT, SYSTEM AND COMPUTER PROGRAM PRODUCT IMPLEMENTING THE METHOD
展开▼
机译:增强环境的机器人碰撞收集的方法,系统及计算机程序产品的实现方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term TΔ1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.
展开▼