Research on collision detection method and response strategy for Delta robots

Purpose The safety performance of Delta robots is particularly important. Hence, this paper aims to improve the existing method to achieve efficient and safe robots. Design/methodology/approach This paper designs a generalized momentum extended state observer method to estimate external torque. Meanwhile, a dynamic threshold method for current torque is designed. In addition, a segmented safety response strategy based on task space position feedforward is introduced. Findings Simulation and experimental results verify the effectiveness of the proposed method. Originality/value This paper designs a dynamic threshold collision detection method that does not require external sensors. Compared with static threshold collision detection methods, this method can avoid false alarm problems. This paper also proposes a segmented safety response strategy, which can improve the efficiency and safety of Delta robots.