Industrial handling robots usually have collision detection function, which plays an important role in ensuring the safety of robot operations and reducing potential damage.
The main function of collision detection is to reduce the impact of collision force on the robot body, avoid damage to the robot body or peripheral equipment, and protect the safety of other objects and personnel in the working environment. When the robot detects a collision, it will immediately stop moving and may take a series of measures to release residual stress, such as moving a small distance in the opposite direction along the previous walking path. In addition, collision detection function can also help robots determine whether there is interference in the planned motion trajectory, verify the rationality of the trajectory planning limit position, and determine whether the robot has collided with basic supporting facilities or other robots in the simulated work environment.
There are various methods to achieve collision detection, including but not limited to the following:
Detecting collisions or collision forces by adding external sensors such as wrist force sensors, sensing skin, etc. These sensors can accurately detect the collision force at the end of the hand grip, but may not cover the entire surface of the robot, or may have problems such as complex wiring and poor anti-interference ability.
Use the built-in force/torque sensor of the robot for detection. This method can accurately detect external forces, but force/torque sensors are expensive and costly.
Establish an accurate dynamic model of the robot and track the actual torque feedback from the robot motor in real time. When a robot collides, the actual torque will undergo a significant change, resulting in a significant difference from the torque predicted by the model, which serves as a signal for collision detection. This method does not require additional sensors and the detection range can cover the entire surface of the robot.
It should be noted that the implementation and effectiveness of collision detection function may vary depending on the robot model, manufacturer, and specific application scenarios. In addition, with the continuous development of technology, new collision detection methods and strategies are constantly emerging to improve the safety and operational efficiency of industrial handling robots.