Research On Coexisting-cooperative-cognitive Robots Safety Based On Six-axis Force Torque Sensor

The next generation of robots requires closer integration with people and the environment,that is,Coexisting-Cooperative-Cognitive Robots(Tri-Co Robots).The primary problem in achieving human-robot integration is to ensure the safety of humanrobot-objects during the interaction process.Most of the traditional methods are to achieve pre-collision safety,which cannot meet the requirements of close collaboration between the next generation of robots and humans.Therefore,an inclusive robot safety system based on six-axis force/torque sensors is designed,which can give full play to the advantages of postcollision safety and realize true human-machine collaboration.Specific research work includes:1)The gravity and dynamic force compensation algorithm of the six-axis force torque sensor at the base is proposed.The six-axis force torque sensor is installed at the base to detect the collision point of the robot body.The sensor is dynamically compensated to ensure that the zero value of the sensor does not follow the robot.So as to lay the foundation for the realization of collision recognition and collision point detection.2)The collision type of the robot body is analyzed,and an algorithm for detecting the collision point of the robot body in a non-structural environment using a six-axis force torque sensor data self-constraint is derived.The minimum error factor is proposed to search the calculation results of the collision point to ensure that the error between the calculation result and the actual collision point is minimized.Factors affecting the accuracy of the collision point algorithm are analyzed,and simulation experiments are designed to verify the collision point detection algorithm.3)A safety force control system to ensure safety after a human-robot collision is designed and the robot force control algorithm is derived.The speed-based robot force control strategy has been studied and the collision test is designed to verify the correctness and effectiveness of the proposed safe force control algorithm.4)An experimental platform for the human-machine safety system is built and the overall structure of the system and its control mechanism is analyzed.An information acquisition system consisting of a base six-axis force/torque sensor,host computer,transmitter,data acquisition instrument and robot is built.Figure 58;Table 8;Reference 65...