基于惯性预测的机器人变刚度碰撞检测系统  

Robotic Variable Stiffness Collision Detection System Based on Inertia Prediction

作　　者：林义忠[1] 杜柳明 谢震鹏 易雨晴 梁科 LIN Yizhong;DU Liuming;XIE Zhenpeng;YI Yuqing;LIANG Ke(School of Mechanical Engineering,Guangxi University)

机构地区：[1]广西大学机械工程学院

出　　处：《仪表技术与传感器》2024年第6期72-78,共7页Instrument Technique and Sensor

基　　金：国家自然科学基金项目(61963005)。

摘　　要：针对机器人碰撞检测开关存在弹簧预紧力大、碰撞力阈值高的问题,提出了“惯性预测+电磁伺服”的变刚度模式来弥补该方法的不足。根据机器人手部加速度的测量及预估值实时调节伺服电磁力,碰撞传感器的预紧力由固定的弹簧力与可控电磁力叠加,实现预紧力与手部惯性力的动态平衡,使传感器始终保持高灵敏度。将该碰撞传感器安装于6自由度机器人腕部与手部之间,在碰撞过程中记录触发传感器报警的碰撞力值,实验结果验证了该变刚度碰撞检测方法的可行性。Aiming at the problems of large spring preload and high collision force threshold of the robot collision detection switch,the variable stiffness mode of“inertia prediction+electromagnetic servo”was proposed to make up for the shortcomings of this method.The servo-electromagnetic force was adjusted in real time according to the measurement and prediction of the robots hand acceleration,and the preload force of the collision sensor was superimposed by a fixed spring force and a controllable electromagnetic force,which realized the dynamic balance between the preload force and the hand inertia force,so that the sensor always maintains a high sensitivity.The collision sensor was installed between the wrist and the hand of a 6-degree-of-freedom ro-bot,and the value of the collision force that triggers the sensor alarm is recorded during the collision process,and the experimental results verify the feasibility of this variable stiffness collision detection method.

关 键 词：机器人 碰撞检测 惯性预测 电磁伺服 碰撞阈值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]