Application of Force Method Principle in Robot Collision Point Recognition
With robotics and human-robot co-operation technologies are widely concerned,it is crucial to realize a human-machine inclusive safety system.To realize true human-machine integration,ensuring safe-ty and good identification of collision points are the key points.Aiming at the limitation of skin sensor ap-plication wrapping to perceive external force,a new method of solving external contact force at the collision point is introduced when the collision linkage is known during human-robot cooperation.The way of sol-ving the super-stationary structure based on the principle of force method,the information of the location of the collision point can be obtained based on the force information with the help of only part of the parame-ter information output from the robot body.Finally,the experimental platform is mounted and simulation experiments are conducted on the algorithm proposed in this paper.The experimental results show that when the collision point position is locked by force information,the error range of its force situation is within an acceptable range and meets the accuracy requirements of the robot collision point identification algorithm.
human-machine collaborationsuper-stationary structureforce method solutioncollision point identification
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