Robot Manipulator Control Method

Control Technology for Redundant Robot Manipulators Distinguishing Task Reaction Forces from Collisions Using External Force Observers

This technology is a control method that detects the joint torque of a redundant robot manipulator in real-time and compares it with estimates based on a dynamic model to separate normal force-control reaction forces from abnormal external forces, automatically switching the operation mode during abnormal situations.

Existing force-controlled robots based on joint torque sensors struggle to clearly distinguish between normal task reaction forces and abnormal external collision forces, making it impossible to implement efficient control for preventing safety accidents and protecting the robot during collisions.

This technology proposes a method that constructs an external force estimation observer using joint torque sensor data and a Jacobian matrix, filters out task reaction forces, extracts abnormal external force torque, and calculates a collision detection index. It can be applied to collaborative robots and assembly automation equipment, significantly improving safety by accurately identifying collisions while maintaining normal operations.

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Key Features:

• A sensing step that acquires detected joint torque information from the joints of a redundant robot manipulator
• An estimation analysis step where estimated joint torque is calculated based on the detected joint torque information and pre-stored estimation data
• A configuration that eliminates normal force-control reaction forces and extracts only abnormal external force torque through a Jacobian matrix and filtering
• A configuration that calculates a collision detection index to set an emergency stop or operation maintenance mode