Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor
To address the shortcomings of existing robot collision detection algorithms that use six-dimensional force sensors, a force compensation algorithm based on Kane’s dynamics is proposed, along with a collision detection algorithm that uses the six-dimensional force sensor data combined with the robot...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/7/544 |
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| author | Yunyi Wang Zhijun Wang Yongli Feng Yanghuan Xu |
| author_facet | Yunyi Wang Zhijun Wang Yongli Feng Yanghuan Xu |
| author_sort | Yunyi Wang |
| collection | DOAJ |
| description | To address the shortcomings of existing robot collision detection algorithms that use six-dimensional force sensors, a force compensation algorithm based on Kane’s dynamics is proposed, along with a collision detection algorithm that uses the six-dimensional force sensor data combined with the robot’s outer surface equations to derive the robot body’s collision point coordinates. Firstly, a collision detection model for a joint-type collaborative robot is presented. Secondly, based on Kane’s dynamics equations, a force compensation model for the joint-type collaborative robot is established and the corresponding force compensation algorithm is derived. Thirdly, a collision detection algorithm is derived, and an example using a cylindrical joint robot with a link’s outer surface equation is used to solve the collision point. The collision is categorized into nine cases, and the coordinates of the collision point are solved for each case. Finally, force compensation and collision detection experiments are conducted on an AUBO-I5 joint-type collaborative robot. The results of the force compensation show that the comparison curves for forces/torques in three directions are consistent, and the relative error is below 5.6%. The collision detection results indicate that the computed collision positions match the actual collision positions, thus verifying the correctness of the theoretical analysis of the force compensation and collision detection algorithms. The research results provide a theoretical basis for ensuring safety in human–robot collaboration. |
| format | Article |
| id | doaj-art-d5dd517680a747829cd438ed3db497e1 |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-d5dd517680a747829cd438ed3db497e12025-08-20T03:36:12ZengMDPI AGMachines2075-17022025-06-0113754410.3390/machines13070544Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force SensorYunyi Wang0Zhijun Wang1Yongli Feng2Yanghuan Xu3College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, ChinaCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, ChinaCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, ChinaCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, ChinaTo address the shortcomings of existing robot collision detection algorithms that use six-dimensional force sensors, a force compensation algorithm based on Kane’s dynamics is proposed, along with a collision detection algorithm that uses the six-dimensional force sensor data combined with the robot’s outer surface equations to derive the robot body’s collision point coordinates. Firstly, a collision detection model for a joint-type collaborative robot is presented. Secondly, based on Kane’s dynamics equations, a force compensation model for the joint-type collaborative robot is established and the corresponding force compensation algorithm is derived. Thirdly, a collision detection algorithm is derived, and an example using a cylindrical joint robot with a link’s outer surface equation is used to solve the collision point. The collision is categorized into nine cases, and the coordinates of the collision point are solved for each case. Finally, force compensation and collision detection experiments are conducted on an AUBO-I5 joint-type collaborative robot. The results of the force compensation show that the comparison curves for forces/torques in three directions are consistent, and the relative error is below 5.6%. The collision detection results indicate that the computed collision positions match the actual collision positions, thus verifying the correctness of the theoretical analysis of the force compensation and collision detection algorithms. The research results provide a theoretical basis for ensuring safety in human–robot collaboration.https://www.mdpi.com/2075-1702/13/7/544six-dimensional force sensorforce compensationcollision detectionKane’s dynamics equationarticulated robot |
| spellingShingle | Yunyi Wang Zhijun Wang Yongli Feng Yanghuan Xu Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor Machines six-dimensional force sensor force compensation collision detection Kane’s dynamics equation articulated robot |
| title | Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor |
| title_full | Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor |
| title_fullStr | Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor |
| title_full_unstemmed | Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor |
| title_short | Research on Robot Force Compensation and Collision Detection Based on Six-Dimensional Force Sensor |
| title_sort | research on robot force compensation and collision detection based on six dimensional force sensor |
| topic | six-dimensional force sensor force compensation collision detection Kane’s dynamics equation articulated robot |
| url | https://www.mdpi.com/2075-1702/13/7/544 |
| work_keys_str_mv | AT yunyiwang researchonrobotforcecompensationandcollisiondetectionbasedonsixdimensionalforcesensor AT zhijunwang researchonrobotforcecompensationandcollisiondetectionbasedonsixdimensionalforcesensor AT yonglifeng researchonrobotforcecompensationandcollisiondetectionbasedonsixdimensionalforcesensor AT yanghuanxu researchonrobotforcecompensationandcollisiondetectionbasedonsixdimensionalforcesensor |