首页|Researchers from Harbin Institute of Technology Describe Findings in Robotics (A Novel Collision Detection Method Based On Current Residuals for Robots Without Joint Torque Sensors: a Case Study On Ur10 Robot)
Researchers from Harbin Institute of Technology Describe Findings in Robotics (A Novel Collision Detection Method Based On Current Residuals for Robots Without Joint Torque Sensors: a Case Study On Ur10 Robot)
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Investigators discuss new findings in Robotics. According to news originating from Harbin, People's Republic of China, by NewsRx correspondents, research stated, "Existing model -based collision det ection methods rely on accurate torque dynamic parameters identified using measu red joint torques. However, for robots lacking joint torque sensors, only joint currents can be measured, and joint torques must be estimated through the linear relationship between joint currents and joint torque constants." Financial supporters for this research include National Key R&D Pro gram of China, National Natural Science Foundation of China (NSFC). Our news journalists obtained a quote from the research from the Harbin Institut e of Technology, "This way can lead to cumulative identification errors in torqu e dynamic parameters, thereby diminishing the performance of model -based collis ion detection algorithms. To tackle this challenge, this article proposes an inn ovative collision detection method based on current residuals, which represent t he disparities between measured joint currents and predicted joint currents comp uted by current dynamic parameters. Then, a dynamic threshold method for current residuals is designed to mitigate the impact of modeling errors at zero -speed direction changes on collision detection performance. Additionally, a suppressio n strategy based on online load identification and compensation is introduced to reduce the interference of noncollision load factors on collision detection sig nals. The proposed method mitigates the accumulation of errors on torque dynamic identification resulting from inaccuracies in joint torque constants, ultimatel y enhancing collision detection performance for robots without joint torque sens ors."
HarbinPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningNano-robotRobotRoboticsHarbin I nstitute of Technology
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