Collision detection generally includes sensor-based collision detection and sensorless-based collision detection.
Sensor-based collision detection includes electronic skin-based detection,joint torque sensor-based or base and end six-dimensional sensor-based collision detection.In addition to this type of collision detection method,most of the other collision detection needs to construct the dynamic model of the collaborative robot,estimate the external force or construct the observer.A collision occurs when an external force is detected or when a disturbance is detected by the observer.
碰撞检测一般有基于传感器的碰撞检测和基于无传感器的碰撞检测。
基于传感器的碰撞检测有基于电子皮肤的检测方式,基于关节扭矩传感器或基于底座、末端六维传感器的方式检测碰撞。除了这类碰撞检测方法,其他的碰撞检测大多需要构建协作机器人的动力学模型,估计外力或构建观测器。当外力检测到或当观测器测到干扰时则表示碰撞发生。
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