A sensorless collision detection method for robotic manipulators based on motor current

Abstract

A sensorless collision detection method of robotic arm based on motor current includes acquiring an output current of a robotic arm joint motor; building a neural network, and using a backpropagation algorithm to update the weights and the deviations of the neural network to obtain an estimated current value; judging whether collision occurs by comparing the collision detection threshold with the error value between the output current of the robotic arm joint motor and the estimated output current of the neural network. The detection method is easy to operate and has higher universality.

Description

Technical field [0001] The invention belongs to the technical field of robot manipulator collision detection, and specifically relates to a sensorless collision detection method for a robot manipulator arm based on motor current. Background technique [0002] In recent years, robotic arms have been widely used in fields such as aerospace, industrial production, medical care, and households. However, when the robot is working, it is likely to collide with people or objects that suddenly break into its work space. If it cannot accurately identify and take timely response measures, it is likely to pose a huge threat to the safety of people and robots. . Therefore, safety is one of the primary considerations in robot work. [0003] At present, many methods have been proposed for robot collision detection. One of the more common methods is to install various sensors on the robot arm to detect the occurrence of collisions, such as wrist sensors, vision sensors, skin perception, etc. A...

AI Technical Summary

Problems solved by technology

In practice, the acceleration is generally noisy and difficult to estimate, and the dynamic model of the robot will change with time. For robots with low degrees of freedom, such as one or two degrees of freedom, the calculation of the dynamic model is relatively simple, but for high For a robot with a degree of freedom, the dynamic model of the robot will be very complex and greatly increase the amount of calculation, so the dynamic model will become unavailable at this time

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