TY - Jour A2 - Diraco，Giovanni Au - Wang，Zhijun Au - Liu，Lu Au - yan，文燕·奥 - 他，景奥 - 崔，冰岩Au - Li，Zhanxian Py - 2020 da - 2020/12/12 Ti -基于六轴力/扭矩传感器SP-8881263 VL-2020 AB的碰撞点识别研究 - 先前需要依赖于碰撞物体表面几何信息的机器人身体的碰撞检测算法，并且在施加期间不允许变形碰撞过程。为了解决这个问题，提出了一种新的机器人身体碰撞检测算法，其使用基座处的六轴力/扭矩传感器的力信息来自限制，这不依赖于碰撞物体表面的几何信息，以及变形也允许在碰撞期间变形。就传感器数据预处理而言，提出了基座上的六轴力/扭矩传感器的重力和动态力补偿算法，以确保基座上的六轴力/扭矩传感器的读取始终保持该值0当机器人工作时。然后，当传感器读数超过设定阈值时，机器人被认为已经与外界碰撞。提出了一种精确因素来分析力和碰撞距离对算法精度的影响。最后，将本文提出的新算法与依赖于碰撞体表面的几何信息的传统算法进行比较。 The experimental results indicate that the accuracy of the collision point detection algorithm proposed in this paper is close to that of the traditional method, but it does not need to rely on the geometric information of the collision body surface, and there is no requirement for whether there is deformation during the contact process. It can be concluded that the collision distance is the most important factor affecting the accuracy of the algorithm, followed by the conclusion of the magnitude of the collision force through the calculation of the precision factor. The results show that this method can effectively detect the collision point of the machine body, and the maximum error at the farthest point of the robot is 8.712%, which lays a certain foundation for the subsequent research on human-machine collaboration in small collaborative robots. SN - 1687-725X UR - https://doi.org/10.1155/2020/8881263 DO - 10.1155/2020/8881263 JF - Journal of Sensors PB - Hindawi KW - ER -