根据机器人各部位有效质量动态调整碰撞敏感度，提升协作效率与安全性。
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
- 按各关节有效质量动态计算碰撞力阈值
- 实测协作任务效率提升超45%
- 适用于可计算有效质量的任意机器人
在人机协作中，安全标准（如ISO 10218-2:2025）规定了允许的接触力范围。当前采用固定阈值的力限制（PFL）方法会导致机器人在未超限的碰撞下也停止，影响效率。本文提出一种自适应碰撞敏感框架，基于各机械臂段的有效质量（EM），实时估算局部碰撞力并决定是否中断运动。在模拟与真实UR10e协作机械臂上结合敏感皮肤（AIRSKIN）进行检测，同时在模拟KUKA LBR iiwa上通过关节扭矩感知验证。在包含瞬时与准静态碰撞的搬运任务中，相比传统方法，效率提升超过45%。该方法适用于所有可计算有效质量的机器人。
原文摘要 · Abstract (English)
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO 10218-2:2025). The regime that allows collisions between the moving robot and the operator, called Power and Force Limiting (PFL), restricts the permissible contact forces. Using the same fixed contact thresholds on the entire robot surface results unnecessary productivity losses, as the robot needs to stop even when impact forces are within limits. Here we present a framework that decides whether the robot should interrupt motion based on estimated collision force computed individually for different parts of the robot body and dynamically on the fly, based on the Effective Mass (EM) of each robot link. We performed experiments on a simulated and real collaborative robot arm (UR10e) with sensitive skin (AIRSKIN) for collision detection and isolation. To demonstrate the generality of our method, we added experiments on simulated KUKA LBR iiwa robot, where collision sensing draws on joint torque sensing. On a mock pick-and-place scenario with both transient and quasi-static collisions, we show an increase in productivity over 45% from using the standard approach. The method is applicable to any robot for which the EF can be calculated.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。