A nonlinear momentum observer for sensorless robot collision detection under model uncertainties

doi:10.1016/j.mechatronics.2021.102603

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	A nonlinear momentum observer for sensorless robot collision detection under model uncertainties
	Y. Li; Y. Li; M. Zhu; Z. Xu and D. Mu
刊名	Mechatronics
	2021
卷号	78
ISSN号	9574158
DOI	10.1016/j.mechatronics.2021.102603
英文摘要	Collision detection methods could reduce collision forces and improve safety during physical human-robot interaction without additional sensing devices. However, current collision detection methods result in an unavoidable trade-off between sensitivity to collisions, peaking value reduction near the initial time, and immunity to measurement noise. In this paper, a novel nonlinear extended state momentum observer (NESMO) is proposed for detecting collisions between a robot body and human under model uncertainties based on only position and current measurements. The collision detection method is divided into three steps. The first step is to identify the robot dynamic model. Then, we can deduce the generalized momentum-based state-space equations from the identified base dynamic parameters. The second step is to construct a NESMO. Benefiting from the fractional power function and the time-varying damping ratio, the NESMO achieves the required monitoring bandwidth with noise immunity. The last step is to design a novel time-varying threshold (TVT) to distinguish the collision signal from the estimated lumped disturbance. As with the dynamic model parameters, the coefficients of TVT could be obtained by offline identification. Combined with NESMO, the method can provide timely and reliable collision detection and estimation under model uncertainties. Simulation and experimental results obtained using a 6-DOF robot manipulator illustrate the effectiveness of the proposed method. 2021
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/65458]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Y. Li,Y. Li,M. Zhu,et al. A nonlinear momentum observer for sensorless robot collision detection under model uncertainties[J]. Mechatronics,2021,78.
APA	Y. Li,Y. Li,M. Zhu,&Z. Xu and D. Mu.(2021).A nonlinear momentum observer for sensorless robot collision detection under model uncertainties.Mechatronics,78.
MLA	Y. Li,et al."A nonlinear momentum observer for sensorless robot collision detection under model uncertainties".Mechatronics 78(2021).