Research on Robot Collision Detection Method Based on Force Measuring Table Composed of Unidirectional Force Sensor

Aiming at the collision detection problem of collaborative robots, a force measurement platform based on unidirectional force sensor for collision detection was designed. The platform was installed in series with the robot base, without changing the structure of the robot itself, which has the advantages of simple structure, low cost, and convenient measure. Using a combination of Adams and Matlab/Simulink simulation methods to model and simulate the collision process of the robot, the mapping relationship between the unidirectional force measured by the sensor in the force measurement platform and the collision force was derived. The force data of the three support points of the sensor in the force measurement platform before and after the collision was obtained, and the robot collision criteria analysis was carried out, which first performed difference processing on the force data of the three support points, then took the absolute values, and finally summarized them up. On the robot collision detection experimental platform, experiments were conducted on ROC6 robot to verify the feasibility of the proposed collision detection method. The experimental results showed that the proposed collision detection method had the characteristics of high sensitivity, small calculation volume, and easy of use.