Robotic Variable Stiffness Collision Detection System Based on Inertia Prediction
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 robot's 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.
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