用单个低成本传感器实现并联机器人快速触碰检测，提升人机协作安全性。
Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration
- 融合编码器与单个IMU数据，通过扩展卡尔曼滤波估计末端加速度
- 接触检测响应时间最快仅3毫秒，比传统方法快50%
- 适合对实时性要求高的工业人机协作场景
快速触碰检测对于人机协作的安全至关重要。基于本体感知信息的观测器虽可用于触碰检测，但存在一阶误差动态，导致延迟。基于惯性测量单元（IMU）的传感器融合方法，由加速度计和陀螺仪组成，可有效减少延迟，其加速度估计能直接计算外部力。对于串联机器人，需安装多个加速度计和陀螺仪以进行动力学建模，因关节坐标是最小坐标。而并联机器人（PRs）则可在末端执行器平台上仅使用一个IMU，因其已具备最小坐标。本文提出一种基于编码器与单个低成本消费级IMU的传感器融合方法，用于并联机器人的触碰检测。通过扩展卡尔曼滤波估计末端加速度，并融入动力学模型计算外部力。在平面并联机器人的真实实验中，该方法将检测时长最多缩短50%，并在3-39毫秒内实现碰撞与夹持检测。
原文摘要 · Abstract (English)
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on inertial measurement units (IMUs) consisting of accelerometers and gyroscopes is advantageous for reducing delays. The acceleration estimation enables the direct calculation of external forces. For serial robots, the installation of multiple accelerometers and gyroscopes is required for dynamics modeling since the joint coordinates are the minimal coordinates. Alternatively, parallel robots (PRs) offer the potential to use only one IMU on the end-effector platform, which already presents the minimal coordinates of the PR. This work introduces a sensor-fusion method for contact detection using encoders and only one low-cost, consumer-grade IMU for a PR. The end-effector accelerations are estimated by an extended Kalman filter and incorporated into the dynamics to calculate external forces. In real-world experiments with a planar PR, we demonstrate that this approach reduces the detection duration by up to 50% compared to a momentum observer and enables the collision and clamping detection within 3-39ms.
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