Study And Implementation Of Collision Protection For Clean Robot

Safety problem is always one of the hot topics in the field of application research on robot. As one of the important component, clean robot’s safety and reliability will affect the quality and efficiency of assembly line. It is hard to avoid that the clean robot impact with other equipment when working. In order to protect the safety, both of clean and robot, it is very important to detect the collision timely. The paper had studied collision protection technology, which could detect collision timely and avoid unnecessary loss.Firstly, the current research and development of clean robot and collision protection technology are introduced an home and abroad in the paper. Implement scheme is made sure based on comparative analysis of collision protection technology.Then, according to the structure of clean robot and drive principle, kinematic equations are deduced using D-H method, and kinetic equations are derived using Lagrange function. All of those provide the theoretical foundation for achievement the collision detection method of clean robot.Based on the kinematics of clean robot, a method, which is used to detect collision of robot, based on torque error is proposed to solve safety problem of clean robot. In the proposed method, extra sensor is not necessary, just used theoretical displacement, velocity, accelerant and actual displacement, velocity as the input, and disturbance torque as the output. By comparing the output and the given threshold to judge if there is any collision. In order to improve the proposed method, system error is introduced.In order to verify the effectiveness of algorithm which is proposed, simulation and experiment have been carried out. With the help of ADAMS, robot operation parameters information is acquired. Simulation result is analyzed by MATLAB. Results show that the proposed method could detect collision timely and reliably. Then, test platform of detect protection control system based on clean robot is set up. Two grope of experiments had been done, rigid collision and flexible collision. Experimental results showed that the method proposed can satisfy the actual operation requirements of clean robot.