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.
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。
CHALLENGER isolation TRANSFORMER 632-LP3 632LP3 63 KVA 63KVA 460-460Y/266 V
Fisher Rosemount Pressure Transmitter 1151DR2F22B3 1000 PSI 45 VDC 4-20mA
TRUTZSCHLER SPEEDCOMMANDER SPC-1 SPC1 490-78.330.000 49078330000
SQUARE D SY/MAX RTD/DIRECT INPUT MODULE 8030-RIM-127 8030-RIM127 A3 S30617-581
SQUARE D SY/MAX RTD/DIRECT INPUT MODULE 8030-RIM-127 8030-RIM127 B S30617-581-50
SQUARE D SY/MAX RTD/DIRECT INPUT MODULE 8030-RIM-127 8030-RIM127 D S30617-581-50