Please wait a minute...
浙江大学学报(工学版)
J4  2012, Vol. 46 Issue (6): 1115-1121    DOI: 10.3785/j.issn.1008-973X.2012.06.023
电气工程     
基于扰动观测器的机械手碰撞检测与安全响应
钟琮玮, 项基, 韦巍, 张远辉, 陈鹏
浙江大学 电气工程学院,浙江 杭州 310027
Collision detection and safe reaction of manipulator
based on disturbance observer
ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui, CHEN Peng
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
 全文: PDF  HTML
摘要：

当机械手臂与其工作环境中的物体或人体发生碰撞时,会损坏关节处的电机或给人员带来伤害,为保证人员与设备安全,设计一种外部扰动观测器对外部碰撞作用力进行估计的方法.扰动观测器基于动量守恒推导得出,当系统不受外力时观测结果指数收敛到零附近；当系统受到外力时,观测结果指数趋近于外力大小.当观测器结果及其变化率超过一定阈值时,认为外部碰撞发生.为保证手臂及碰撞对象的安全,使控制手臂远离碰撞区域,设计了机械手臂在速度和力矩控制模式下不同的安全响应控制方法.对气球以及人身体的碰撞实验表明：该方法可以在发生接触后200 ms内有效地检测到碰撞的发生,并控制机械手臂以最快速度减速直至反向运动,离开碰撞区域,保证机械手臂和人员的安全.
Abstract:

 When a robot manipulator collides with an object or human body in its workspace, the motor on the joint would be damaged and the person would be hurt. To guarantee the safety of human body and the equipment, a disturbance observer, which is designed to evaluate the influence of the collision force, was developed. The disturbance observer is deduced from preservation of momentum. The observation result would exponentially attenuate to zero when the manipulator is not influenced by the external force, and approach to the force when it is colliding with some objects. When the observation result and its derivative exceed the given thresholds, the collision were detected. For the damage limiting of the robot or the safety of the human body, two different safe reaction methods for velocity mode and torque mode control were presented. The experiments with the collision objects, balloon and human body, were carried out. The collison could be effectively detected within 200 ms after contact and the manipulator was rapidly controlled to move reversely away from the collision region. The experimental results demonstrated that the safety of manipulator and human body could be guaranteed by the proposed collision detection and safe reaction method.
出版日期: 2012-07-24
:  TP 241  
基金资助:

国家“863”高技术研究发展计划资助项目(2008AA042602)；国家自然科学基金资助项目60704030, 61074122)；中央高校基本科研业务费专项资金资助项目(KYJD09035).
通讯作者: 韦巍，男，教授，博导.     E-mail: wwei@zju.edu.cn
作者简介: 钟琮玮(1984—)，男，博士生，从事机械手臂控制、视觉伺服研究.E-mail:congwei.zhong@gmail.com
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

钟琮玮, 项基, 韦巍, 张远辉, 陈鹏. 基于扰动观测器的机械手碰撞检测与安全响应[J]. J4, 2012, 46(6): 1115-1121.

ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui, CHEN Peng. Collision detection and safe reaction of manipulator
based on disturbance observer. J4, 2012, 46(6): 1115-1121.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2012.06.023    或    http://www.zjujournals.com/eng/CN/Y2012/V46/I6/1115

［1］ ERDEN M S, TOMIYAMA T. Humanintent detection and physically interactive control of a robot without force sensors［J］. IEEE Transactions on Robotics, 2010, 26(2): 370-382.
［2］ BICCHI A, BAVARO M, BOCCADAMO G, et al. Physical humanrobot interaction: dependability, safety, and performance［C］∥10th IEEE International Workshop on Advanced Motion Control.Trento: IEEE, 2008: 9-14.
［3］ KULIC D, CROFT E. Precollision safety strategies for humanrobot interaction［J］.Autonomous Robots, 2007, 22: 149-164.
［4］ SUGAHARA Y, NOHA K, KOSUGE K, et al. Experimental study on manipulator design for low collision impact force［C］∥ IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Singapore: IEEE, 2009: 899-904.
［5］ SCHRAFT R D, MEYER C, PARLITZ C, et al. PowerMate: a safe and intuitive robot assistant for handling and assembly tasks［C］∥Proceedings of the 2005 IEEE International Conference on Robotics and Automation.Barcelona, Spain: IEEE, 2005: 4074-4079.
［6］ HEINZMANN J, ZELINSKY A. Quantitative safety guarantees for physical humanrobot interaction［J］. The International Journal of Robotics Research, 2003, 22(7/8): 479-504.
［7］ CHIDDARWAR S S, RAMESH BABU N. Conflict free coordinated path planning for multiple robots using a dynamic path modification sequence［J］. Robotics and Autonomous Systems,2011, 59: 508-518.
［8］ EBERT D M, HENRICH D D. Safe humanrobotcooperation: imagebased collision detection for industrial robots［C］∥IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland: IEEE,2002, 2: 1826-1831.
［9］ JE HW, BAEKJY, LEEMC. A study of the collision detection of robot manipulator without torque sensor［C］∥ ICCASSICE. Fukuoka: IEEE, 2009: 4468-4471.
［10］ LI Kang, LI Xin, MA Shiwei, et al. Life system modeling and intelligent computing［M］, Heidelberg: SpringerVerlag, 2010,97: 117-123.
［11］ 黄云天,陈卫东,孙逸翔. 基于碰撞检测的护理型操作臂的安全性设计与实现［J］. 机器人, 2011, 33(1): 40-45.
HUANG Yuntian, CHEN Weidong, SUN Yixiang. Safety design and realization of an assistive robotic manipulator based on collision detection［J］. Robot, 2011, 33(1): 40-45.
［12］ MORINAGA S, KOSUGE K. Collision detection system for manipulator based on adaptive impedance control law［C］∥ Proceedings of IEEE International Conference on. Robotics and Automation. Taipei, Taiwan: IEEE, 2003: 1080-1085.
［13］ XIA Jinjun, XIE Zongwu, FANG Honggen, et al. Collision detection of exible joint manipulator by using joint torque sensors［C］∥ IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Singapore: IEEE,2009: 1816-1821.
［14］ KANEKO M, NAKAMURA Y. Robotics research, springer tracts in advanced robotics［M］. Heidelberg: SpringerVerlag, 2011, 66: 395-407.
［15］ HADDADIN S, ALBUSCHAFFER A, HIRZINGER G. Safety analysis for a humanfriendly manipulator［J］. International Journal of Social Robotics,2010, 2: 235-252.
［16］ DE LUCA A, ALBUSCHAFFER A, HADDADIN S, et al. Collision detection and safe reaction with the DLRIII lightweight manipulator arm［C］∥ IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing: IEEE, 2006: 1623-1630.
［17］ DE LUCA A, FERRAJOLI L. Exploiting robot redundancy in collision detection and reaction［C］∥ IEEE/RSJ International Conference on Intelligent Robots and Systems. Nice, France: IEEE, 2008: 3299-3305.
［18］ DE LUCA A, MATTONE R. Sensorless robot collision detection and hybrid force/motion control［C］∥ Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE, 2005: 999-1004.
［19］ HADDADIN S, ALBUSCHAFFER A, DE LUCA A, et al. Collision detection and reaction: a contribution to safe physical humanrobot interaction［C］∥ IEEE/RSJ International Conference on Intelligent Robots and Systems.Nice, France: IEEE, 2008: 3356-3363.
［20］ HADDADIN S, ALBUSCHAFFER A, HIRZINGER G. Safety evaluation of physical humanrobot interaction via crashtesting［C］∥Robotics: Science and Systems Conference. Atlanta,USA: MIT, 2007: 217-224.
[1] 金博, 刘山. 基于终点时刻末端误差的柔性臂迭代学习控制[J]. J4, 2012, 46(8): 1512-1519.
[2] 倪初锋, 刘山. 变负载条件下柔性臂自适应预整形振动控制[J]. J4, 2012, 46(8): 1520-1525.
[3] 钟琮玮, 项基, 韦巍, 张远辉. 基于简化非线性观测器的LuGre动态摩擦力补偿[J]. J4, 2012, 46(4): 764-769.
[4] 姜宏超, 刘士荣, 张波涛. 六自由度模块化机械臂的逆运动学分析[J]. J4, 2010, 44(7): 1348-1354.
[5] 帅鑫, 李艳君, 吴铁军. 一种柔性机械臂末端轨迹跟踪的预测控制算法[J]. J4, 2010, 44(2): 259-264.
[6] 张雨浓, 肖秀春, 陈扬文, 等. Hermite前向神经网络隐节点数目自动确定[J]. J4, 2010, 44(2): 271-275.