通过传感器数据实现并联机器人快速安全接触响应
SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution
- 用编码器和电流信息估测力，结合神经网络与粒子滤波定位接触
- 在1.5米/秒速度下25-275毫秒内检测72次碰撞，力低于安全阈值
- 无需额外硬件，适合已部署并联机器人的人机安全交互
高速安全运动对物理交互机器人的成功部署至关重要。并联机器人（PRs）因移动质量小，在相同能耗限制下可实现更高运行速度。然而，其需在避免奇异性和自碰撞的同时实现接触检测与响应。本文提出SafePR——一种统一方法，用于检测、定位接触，并区分碰撞与夹持，从而生成对人类安全且对并联机器人可行的反应。该方法利用编码器与电机电流信息，通过广义动量观测器估计力；再通过神经网络与粒子滤波进行接触分类与定位。引入冗余度解析的反应策略以规避自碰撞和Ⅱ型奇异点。在真实场景中，该方法成功检测并终止了72次端部执行器速度达1.5米/秒的碰撞与夹持事件，响应时间25-275毫秒，作用力低于ISO/TS 15066标准阈值。仅依赖现有传感器，无需新增硬件，即可实现已装配并联机器人的安全交互。
原文摘要 · Abstract (English)
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However, they require methods for contact detection and reaction while avoiding singularities and self-collisions. We address this issue and present SafePR - a unified approach for the detection and localization, including the distinction between collision and clamping to perform a reaction that is safe for humans and feasible for PRs. Our approach uses information from the encoders and motor currents to estimate forces via a generalized-momentum observer. Neural networks and particle filters classify and localize the contacts. We introduce reactions with redundancy resolution to avoid self-collisions and type-II singularities. Our approach detected and terminated 72 real-world collision and clamping contacts with end-effector speeds of up to 1.5 m/s, each within 25-275 ms. The forces were below the thresholds from ISO/TS 15066. By using built-in sensors, SafePR enables safe interaction with already assembled PRs without the need for new hardware components.
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