Frequency-based robot manipulator control method

Manipulator Control Technology for Determining Collision Intent via High-Frequency Analysis of Joint Torque

This technology is a frequency-based robot manipulator control method that calculates estimated joint torque using an external force estimation observer based on joint torque sensor data. It distinguishes between intentional task contact and unintentional collisions in the frequency domain by extracting high-frequency components, allowing for the execution of specific control modes for each.

Existing active control methods struggle with rapid response during collisions due to sensor and computational latency, while passive control methods face challenges with non-linear motion control and limited design flexibility.

This technology determines collision intent by comparing the high-frequency components of the joint torque calculated by the external force estimation observer against a threshold. If a collision is detected, it calculates the direction and location of the impact to trigger evasive movement in the opposite direction. Applicable to collaborative robots and automated assembly equipment, it ensures safety by reacting immediately to dangerous collisions without interfering with normal operations.

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Key Features:

• Sensing stage for acquiring joint torque information from the robot manipulator's joints
• Calculation stage for determining estimated joint torque based on sensed joint torque information and pre-stored estimation data
• Estimation analysis stage where high-frequency components of the calculated estimated joint torque are analyzed to determine collision intent
• Configuration for determining collision intent and executing evasive maneuvers by comparing high-frequency and safety thresholds