METHOD FOR ENHANCED COLLISION COLLECTION OF A ROBOT WITH ITS ENVIRONMENT, SYSTEM AND COMPUTER PROGRAM PRODUCT IMPLEMENTING THE METHOD

摘要

A method for detecting a collision between a robot and its environment comprising the following steps: - Generating, from a dynamic model of the robot, a signal representative of the collisions between the robot and its environment, said signal being called a residue r, - Realize an adaptive high-pass filtering of the residue r, - determining an adaptive threshold T composed of at least a first dynamic term TΔ1, equal to an information on the parametric uncertainties between said model and the real behavior of the robot, said parametric uncertainties being related to a first variable ei characteristic of the state of said robot among the following variables: the position, the speed or the acceleration of a joint of the robot, or a linear or nonlinear function of one of these variables or a combination of these variables, - Compare the filtered residue with the adaptive threshold T to deduce the existence or not of a collision.