Research on collision detection method and response strategy for Delta robots

• Published in: Industrial robot Vol. 52; no. 3; pp. 433 - 441
• Main Authors: Mei, Jiangping, Ning, Puxuan, Duan, Yunrui, Wei, Tianlin, Su, Xiaochen
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Publishing Limited 30.04.2025; Emerald Group Publishing Limited
• Subjects: Design; False alarms; Friction; Machine learning; Neural networks; Robot learning; Robots; State observers; Task space; Torque; Delta robot; Collision detection; Man−machine safety
• ISSN: 0143-991X; 1758-5791; 1758-5791
• DOI: 10.1108/IR-09-2024-0428

Purpose The safety performance of Delta robots is particularly important. Hence, this paper aims to improve the existing method to achieve efficient and safe robots. Design/methodology/approach This paper designs a generalized momentum extended state observer method to estimate external torque. Meanwhile, a dynamic threshold method for current torque is designed. In addition, a segmented safety response strategy based on task space position feedforward is introduced. Findings Simulation and experimental results verify the effectiveness of the proposed method. Originality/value This paper designs a dynamic threshold collision detection method that does not require external sensors. Compared with static threshold collision detection methods, this method can avoid false alarm problems. This paper also proposes a segmented safety response strategy, which can improve the efficiency and safety of Delta robots.