Development of typical collision reactions in combination with algorithms for external impacts identification

摘要

This study is focused on the problem of robot interaction with dynamically changing environment for contact and non-contact operations. Robot reaction is based on classification the results, obtained from force sensors. Particular attention is paid to the problem of contact localization in the case of single and multi-contact collisions. Localization algorithms presented for simplified shapeless model of the robot and more complex model that’s also consider real shape of the robot links. Numerical experiments for external force estimation and collision point identification are provided using Kuka iiwa model.