協働ロボットのための衝突検知手法

抄録

This paper investigates various collision detection methods to implement safe collaborative work between humans and robots. The first method is to detect the collision from the change of the commanded torque at the time of collision by using the data of the filtered commanded torque. The second method is to detect a collision by comparing the commanded torque with the reference torque when the robot has passed a predetermined trajectory. The third method is a collision detection method using estimation. We conducted a collision experiment using a sponge and an experiment in which changes the target position on the way. The results show that the collision detection method using the estimation is more versatile than other methods.