Research on collision detection method and response strategy for Delta robots
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. Mean...
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| Published in | Industrial robot Vol. 52; no. 3; pp. 433 - 441 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bedford
Emerald Publishing Limited
30.04.2025
Emerald Group Publishing Limited |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0143-991X 1758-5791 1758-5791 |
| DOI | 10.1108/IR-09-2024-0428 |
Cover
| Abstract | 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. |
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| AbstractList | 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. 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. |
| Author | Su, Xiaochen Ning, Puxuan Wei, Tianlin Mei, Jiangping Duan, Yunrui |
| Author_xml | – sequence: 1 givenname: Jiangping surname: Mei fullname: Mei, Jiangping email: ppm@tju.edu.cn – sequence: 2 givenname: Puxuan surname: Ning fullname: Ning, Puxuan email: ningpuxuan@tju.edu.cn – sequence: 3 givenname: Yunrui surname: Duan fullname: Duan, Yunrui email: duanyunrui@tju.edu.cn – sequence: 4 givenname: Tianlin surname: Wei fullname: Wei, Tianlin email: ichbintianlin@163.com – sequence: 5 givenname: Xiaochen surname: Su fullname: Su, Xiaochen email: 13102215207@163.com |
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| Cites_doi | 10.3390/machines12050321 10.1016/j.mechatronics.2022.102811 10.3390/machines10090818 10.1109/acc.2009.5160642 10.1109/LRA.2020.3033269 10.1109/LRA.2019.2893400 10.1007/s12555-022-1045-0 10.1177/1729881418788992 10.1108/IR-01-2018-0019 10.1016/j.conengprac.2018.07.004 10.1109/TASE.2020.2997094 10.1108/IR-05-2023-0091 10.1016/j.rcim.2024.102777 10.1108/IR-08-2019-0163 10.1177/00368504211063072 10.1108/IR-12-2023-0338 10.1177/1729881419853713 10.1016/j.mechmachtheory.2018.02.004 |
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| Keywords | Delta robot Collision detection Man−machine safety |
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The safety performance of Delta robots is particularly important. Hence, this paper aims to improve the existing method to achieve efficient and safe... Purpose The safety performance of Delta robots is particularly important. Hence, this paper aims to improve the existing method to achieve efficient and safe... |
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| SubjectTerms | Design False alarms Friction Machine learning Neural networks Robot learning Robots State observers Task space Torque |
| Title | Research on collision detection method and response strategy for Delta robots |
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