摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-机器人方面的最新数据在一份新的报告中呈现。根据NewsRx记者在中国人民共和国武汉的新闻报道，研究表明：“在现代工业中，人-机器人协作正在成为常态。由于机器人需要在非结构化/半结构化环境中与人类共享SA ME工作空间，机器人-人和机器人-环境碰撞通常不可避免。”本研究经费来源于国家自然科学基金(NSFC)。新闻记者从华中科技大学的研究中得到一句话:“为了减少碰撞造成的危害,有必要对碰撞进行实时检测,以便采取相应的行动。本文提出了一种基于切换动量动力学识别的通用机器人碰撞检测方法,该方法可以在不增加传感器的情况下实现实时碰撞检测。”该算法识别出机器人动量动力学中受碰撞影响的特定部件，当识别出的部件偏离已知的无碰撞模型时，就会发生碰撞，并利用支持向量机分类器对识别结果进行分析，以确定碰撞中涉及的连杆。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Fresh data on Robotics are presented i n a new report. According to news reporting originating in Wuhan, People's Repub lic of China, by NewsRx journalists, research stated, "In modern industry, human -robot collaboration is becoming the norm. Since the robots need to share the sa me workspace with humans in an unstructured/semistructured environment, robot-hu man and robot-environment collisions are inevitable in general." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news reporters obtained a quote from the research from the Huazhong Universi ty of Science and Technology, "To reduce the harm caused by these collisions, it is necessary to detect them in real time so that actions can be taken according ly. In this article, we propose a general robot collision detection method based on switched momentum dynamics identification. This enables real-time collision detection without any additional sensors, which are usually required by most of the existing real-time collision detection methods. Our algorithm identifies the specific parts in robot momentum dynamics that are affected by collisions and r eports a collision occurrence whenever the identified parts deviate from a known collisionfree model. The identification results are further analyzed using a s upport vector machine classifier to locate the linkage involved in the collision s."
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