COLLISION DETECTION DEVICE FOR ROBOT

A collision detection device (1) for a robot is provided with: a drive torque calculation means (3) that calculates an estimated value for the drive torque of the robot; a torque estimation error model learning means (5) that learns the difference between the drive torque calculated on the basis of...

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Bibliographic Details
Main Authors MAEKAWA KIYOSHI, SAITO AKIO
Format Patent
LanguageChinese
English
Published 25.04.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:A collision detection device (1) for a robot is provided with: a drive torque calculation means (3) that calculates an estimated value for the drive torque of the robot; a torque estimation error model learning means (5) that learns the difference between the drive torque calculated on the basis of the motor current for driving the robot and the estimated value calculated by the drive torque calculation means (3), and the fluctuation of the difference; a threshold value calculation means (8) for calculating a threshold value on the basis of the torque estimation error model learned by the torque estimation error model learning means (5); and a collision determination means (9) that determines a collision between the robot and the object by comparing the threshold value calculated by the threshold value calculation means (8) and the difference between the drive torque calculated on the basis of the motor current for driving the robot and the estimated value calculated by the drive torque calculation means (3).
Bibliography:Application Number: CN202080103192