Collision observation of collaborative robots based on generalized momentum deviation

Stable collision detection method is the guarantee of cooperative robot in the process of human-robot interaction. In this paper, a robot collision detection method without additional sensors is proposed. An external moment observer based on generalized momentum deviation is constructed to realize collision detection by the deviation of robot theoretical momentum and actual momentum. Considering the influence of the external torque generated by the robot end load at the joint on the observer, this paper eliminates the interference of the load to the observer by compensating the equal torque generated by the load at the joint. Simulations and experiments demonstrate that the proposed collision observer can effectively eliminate the interference of terminal load and realize the function of collision detection accurately and quickly.