Collision criteria selection module for cooperative robots collision occurrence discrimination system for cooperative robots and sensorless collision determination method using the same

摘要

By adjusting the sensitivity according to the posture and situation of the robot, the threshold value is calculated as an appropriate value in the collision determination threshold value selection module, and the residual value calculated using the residual calculation system for robots using the momentum observer and the threshold value It is about a collision detection system that uses sensors to determine collisions. The variable sensitivity selection module, the collision determination threshold selection module using the same, and the residual calculation system for a robot using the momentum observer include an input unit for inputting input information, and the impact force input from the input unit , input The sensitivity using to calculate the sensitivity and the time it takes for the impact force to reach the maximum value when the collision input from the input unit occurs The threshold value using and a threshold value calculation unit that calculates and selects the robot as a criterion for determining whether a collision has occurred. The variable sensitivity selection module for robots, the collision determination threshold selection module using the same according to the present invention, the residual calculation system for robots using the momentum observer, and the sensorless collision detection system using the same require Jacobian inverse matrix operation when calculating the threshold value Because the calculation load is low, it is possible to detect a collision more quickly, and it has the advantage of being able to set a threshold value suitable for the posture of the robot with variable sensitivity.