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

doi:10.1016/j.mechatronics.2021.102603

CIOMP OpenIR

	A nonlinear momentum observer for sensorless robot collision detection under model uncertainties
	Y. Li; Y. Li; M. Zhu; Z. Xu and D. Mu
	2021
发表期刊	Mechatronics
ISSN	9574158
卷号	78
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
DOI	10.1016/j.mechatronics.2021.102603
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收录类别	SCI ; EI
引用统计
文献类型	期刊论文
条目标识符	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).

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