KR101329853B1 - Collision detection system of manipulator using torque filtering and control system and method of manipulator using the same - Google Patents

Abstract

The present invention relates to a manipulator collision sensing device, a manipulator control device using the same, and a manipulator control method. The manipulator collision sensing device based an active mode is provided to assume an external force applied to a manipulator by using a torque filtering process; to determine the collision of the manipulator based on the assumed external force; and to complement the limitation of an existing device vulnerable to a material property error. The manipulator control device and the manipulator control method effectively sense collision conditions such as the position, the intensity, and a direction of the collision by using the collision sensing device and control the operation of the manipulator to make the manipulator cope with the sensed collision conditions, thereby enabling the efficient and safe cooperation between a robot and a human being. [Reference numerals] (10) Manipulator;(310) Torque filter;(320) Estimation operating unit;(330) Calculation operating unit;(40) Model identification unit;(50) Motion control unit

Description

Manipulator Collision Detection Device and Manipulator Control Device and Control Method {Collision Detection System of Manipulator Using Torque Filtering and Control System and Method of Manipulator Using The Same}

The present invention relates to a manipulator collision detection device, a manipulator control device and a control method using the same. More specifically, it is possible to estimate the external force applied to the manipulator by using torque filtering process without acceleration information and additional sensors that are difficult to measure, and to judge the presence or absence of manipulator collision, and to supplement the limitation of the existing device which is vulnerable to material error. Active collision-based manipulator collision detection device and such collision detection device effectively detect various collision situations such as the position, size and direction of collision, and control the manipulator so that the manipulator can flexibly cope with it. The present invention relates to a manipulator control device and a control method that enable efficient and safe collaboration between humans and robots.

General industrial robots are widely used in production lines and the like to perform accurate work without human action or supervision. For example, robots used in the automobile industry perform various tasks such as transporting or welding a body of a vehicle.

Unlike general industrial robots, intelligent service robots perform tasks in spaces where people live and work. Therefore, there is a risk of hitting humans and impacting humans. Therefore, an important specification is how much safety a robot can secure to humans. This is especially true for manipulators with the highest potential for collisions with humans among intelligent service robots. Manipulators are mechanical devices that provide the movement of hands and arms in the form of human hands and arms. Most manipulators in use today are composed of several links connected to each other. The joints of the links are called joints. In the manipulator, the movement characteristics are determined by the geometric relationship between the links and the joints.

As a technical solution to prevent the collision between the manipulator and the human, the methodology of improving the software intelligence of the manipulator to recognize the obstacles in advance and thereby predicting the possibility of collision in advance to eliminate the risk is ideal. Computational speed and other algorithms / intelligence technology levels are still at a level that cannot guarantee absolute safety. Therefore, when developing a manipulator, the collision safety strategy measures based on the collision are essential.

Such collision safety is an essential requirement for humans and robots to effectively collaborate. Since collisions between robots and humans can cause fatal injury to humans, many collision safety strategies have been developed to date.

Collision safety strategies can be broadly classified into passive and active methods. The manual method does not use sensors and controllers, but uses a safety mechanism consisting of only pure mechanical elements, so it can respond quickly to collisions, and is cheap and stable, but it does not require separate control. it's difficult. On the contrary, in the active method, after detecting a collision using a sensor or an observer, the controller determines a situation to take an optimal response and thus can flexibly cope with various situations.

However, conventional collision detectors for active methods are difficult to measure collisions, often require acceleration information requiring a separate sensor, and also has the disadvantage of being vulnerable to physical property errors of the robot. Here, the physical properties of the robot means unique characteristics according to the robot model, such as the weight of each link of the robot, the position of the center of gravity, the moment of inertia, etc., and the same will be used below for the physical properties of the robot.

Meanwhile, since the acceleration signal contains a lot of noise, it acts as a factor that hinders the performance of collision detection. In particular, in order to measure the acceleration signal, an additional acceleration sensor or a second derivative of the joint position value must be obtained. In this case, noise makes it difficult to obtain accurate acceleration values and increases the manufacturing cost.

The physical properties of the robot are also difficult to measure accurately, and can change due to the robot's gripping behavior. Therefore, errors in the robot's physical properties can degrade or cause malfunctions of the collision detector. Thus, conventional collision detectors according to the prior art have been limited in their use by these factors.

As a prior art, there is a Korean Patent Publication No. 10-2009-0124560.

The present invention has been invented to solve the problems of the prior art, and an object of the present invention is to estimate the external force applied to the manipulator by using a torque filtering process without acceleration information and an additional sensor that is difficult to measure, and based on the presence or absence of a collision of the manipulator. It is to provide a manipulator collision detection device based on the active method for determining the.

It is another object of the present invention to provide a manipulator collision detection device that compensates for the limitations of existing devices that are vulnerable to property error and exhibits more accurate collision detection performance.

It is still another object of the present invention to effectively detect various collision situations such as the location, size, and direction of a collision through such a collision detection device so that the manipulator can flexibly cope with it, and thus the manipulator can be operated more efficiently and safely. It is to provide a manipulator control device and a control method that enable the collaboration between the robot and the robot.

Another object of the present invention is to determine whether the manipulator grips the workpiece and the type of the workpiece to add a model identification operation for modifying the physical property information of the manipulator to minimize the error of the collision external force calculation due to the physical property error Accordingly, the present invention provides a manipulator control device and a control method that enable more accurate collision detection and proper motion control.

The manipulator collision detection device for detecting a collision state with respect to the manipulator, the manipulator collision detection device comprising: a torque filter for filtering the joint torque value measured from a torque sensor or a drive motor of the manipulator to generate a filtering torque value; A prediction calculator configured to predict and calculate the filtering torque value based on the physical property value, the position, and the speed information of the manipulator; And a calculation calculator for comparing collision torque values calculated by the torque filter and the prediction calculator to calculate a collision external force.

The present invention, the collision detection unit for detecting a collision state for the manipulator; And an operation controller for controlling an operation state of the manipulator according to a signal of the collision detection unit, wherein the collision detection unit filters a joint torque value measured from a torque sensor or a driving motor of the manipulator to generate a filtering torque value. Torque filter; A prediction calculator configured to predict and calculate the filtering torque value based on the physical property value, the position, and the speed information of the manipulator; And a calculation calculation unit which compares the filtering torque values respectively calculated by the torque filter and the prediction calculation unit to calculate the collision external force.

In this case, the manipulator control device further comprises a model identification unit for modifying and calculating the physical property information of the manipulator according to the workpiece held by the manipulator, the prediction calculation unit of the collision detection unit receives the property information received by the model identification unit And to predict the filtering torque value.

In addition, the torque filter may be selectively applied to any one of a low pass filter, a band pass filter, and a high pass filter according to a user's needs.

The present invention includes a collision detection step of detecting a collision state for the manipulator; And an operation control step of controlling an operation state of the manipulator according to the signal detected in the collision detection step, wherein the collision detection step filters by filtering joint torque values measured from a torque sensor or a driving motor of the manipulator. Torque filtering to generate a torque value; A prediction calculation step of predicting and calculating the filtering torque value through the property value, position, and velocity information of the manipulator; And an external force calculation step of calculating a collision external force by comparing the filtering torque values calculated through the torque filtering step and the predictive calculation step, respectively.

In this case, the manipulator control method further includes a model identification step of modifying the physical property information of the manipulator according to the workpiece held by the manipulator, the prediction operation step is to modify the physical property information modified through the model identification step And may be configured to predict and calculate the filtering torque value.

According to the present invention, it is possible to estimate the external force applied to the manipulator using the torque filtering process without the acceleration information and the additional sensor that is difficult to measure, and to determine whether the manipulator collides, and there is no need for a separate sensor. There is an effect that can be easily applied to.

In addition, it can compensate for the limitations of existing devices that are vulnerable to property error and exhibit more accurate collision detection performance.

In addition, the collision detection device effectively detects various collision situations such as the location, size and direction of the collision, and controls the manipulator so that the manipulator can flexibly cope with it. It has the effect of enabling it.

In addition, it is possible to minimize the error of the collision external force calculation due to the physical property error by adding a model identification task of correcting and calculating the physical property information of the manipulator by grasping whether the manipulator holds the workpiece and the type of the workpiece. It has the effect of enabling collision detection and proper motion control.

1 is a view conceptually showing a collision form of a manipulator according to an embodiment of the present invention;
2 is a block diagram conceptually illustrating a configuration of a manipulator collision detection device according to an embodiment of the present invention;
3 is a block diagram conceptually illustrating a configuration of a manipulator control device according to an embodiment of the present invention;
4 is a view showing a frequency pass region according to a type of torque filter according to an embodiment of the present invention;
5 is an operation flowchart showing a step by step flow of the manipulator control method according to an embodiment of the present invention;
6 is an operation flowchart showing step by step the control and operation of the manipulator according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 1 is a diagram conceptually showing a collision form of a manipulator according to an embodiment of the present invention, and FIG. 2 is a block diagram conceptually illustrating a configuration of a manipulator collision detection device according to an embodiment of the present invention.

First, the manipulator 10 has a form in which a plurality of links 100 are connected, and a joint 110 is disposed at each link 100 connection portion, and a geometric relationship between the link 100 and the joint 110 is provided. According to the movement characteristics are determined.

In FIG. 1, a manipulator 10 composed of two links 100 is shown. In this manipulator 10, the link 100 rotates about the joint 110 and performs various movements. Each link 100 is equipped with a drive motor (not shown) to rotate around the joint 110, and thus the joint 110 generates torque in accordance with the position, speed, and weight of the link 100. do. At this time, each joint 110 is equipped with a torque sensor (not shown) is configured to measure the joint torque value (τ) generated during the rotational movement of the link (100).

When the obstacle 20 is positioned on the movement path of the link 100 when the manipulator 10 moves, the collision between the link 100 and the obstacle 20 of the manipulator 10 may occur. Will occur. When such a collision occurs, the joint 110 additionally generates torque due to an external force of the collision. Therefore, the torque value τ generated in the joint 110 is changed by the impact external force.

The manipulator collision detection device according to an embodiment of the present invention is configured to detect whether the manipulator 10 collides and calculate a collision external force by using the change in the joint torque value τ of the joint 110. More specifically, it is configured to calculate the impact external force by comparing the torque value predicted from the physical property information of the manipulator 10 with the position and velocity of the joint and the torque value actually measured while the impact external force is reflected. Torque filtering process is used. Through this torque filtering process, the collision external force can be calculated even without using the acceleration information on the joint. Therefore, since the acceleration information is unnecessary, the collision external force can be calculated with a simple structure without an additional sensor for extracting the acceleration information.

As shown in FIG. 2, the collision detection device 30 includes a torque filter 310, a prediction operation unit 320, and a calculation operation unit 330. The torque filter 310 generates a filtering torque value τ _f by filtering the joint torque value τ measured from the torque sensor 120 or the driving motor 130 of the manipulator 10, and generates a predictive calculating unit 320. ) Predicts and calculates the filtering torque value τ _{f based on} the physical property, position, and velocity information of the manipulator 10, and the calculation calculating unit 330 filters each of the filtering calculated by the torque filter 310 and the prediction calculating unit 320. The impact external force is calculated by comparing the torque values τ _f .

In more detail, first, the joint torque value acting on each joint when the manipulator is driven may be directly measured through a change in current of the torque sensor 120 or the driving motor 130 as described above. (τ) can be expressed as the sum of terms of the inertia and self-weight of the manipulator and terms of the external force applied from the outside as follows.

Where M is the inertia matrix of the manipulator, C is a matrix representing nonlinear terms such as Coriolis and centrifugal forces, G is the gravity vector, τ is the motor torque generated by the motors in each joint, τ _e is the external force such as collision The external torque acting on each joint, q, is a vector representing the displacement of the joint. The double τ can be measured from the magnitude of the current applied to the torque sensor and the drive motor installed in the joint of the manipulator. If the influence of the external force is omitted and the above equations are summarized and all the properties of the manipulator are grouped into one matrix, the joint torque of the manipulator can be expressed as follows.

Where W is a regressor matrix and θ is a matrix composed of properties of the robot. It can be seen that the above equation requires acceleration information in describing the joint torque of the manipulator. Therefore, in order to avoid the use of acceleration information, which is difficult to measure, the filtered torque τ _f using torque filtering is defined as follows.

Where f is the impulse response of the filter, and * represents the convolution, which has the following properties:

Using this property, the convolution of the manipulator's acceleration and the filter's impulse response can be replaced by the convolution of the derivative of the filter's impulse response and the speed of the robot. Therefore, using this filtered torque, the above equation can be expressed as follows.

Using this equation, it can be seen that τ _f can be expressed without acceleration information. Here, the physical property value of the manipulator is a value given by the existing information, the position and the speed of the manipulator can be easily measured through the encoder of the drive motor. Therefore, by using this equation, the filtered torque can be estimated and calculated from the properties of the given manipulator and the measured position and velocity of the manipulator.

는 주어진 물성치 항이며,

는 예측한 필터링 토크값이다. here,

Is the property term given,

Is the predicted filtering torque value.

The collision detection apparatus 30 according to the present invention detects a collision by comparing the filtering torque value thus predicted with the actual filtering torque value obtained by filtering the joint torque value actually measured. Here, the actually measured filtering torque value may be expressed as follows.

Where τ _ef Is the filtered external force. As can be seen from the above equation, the actual measured torque is reflected by the external force.

이라면, 예측한 필터링 토크값

와 토크 센서(120) 등으로부터 측정한 토크의 필터링 값인 τ_f를 비교함으로써 충돌 외력 토크 τ_ef 를 산출할 수 있다.Thus, if a given model is correct, i.e.

If, the predicted filtering torque value

The collision external force torque τ _ef can be calculated by comparing the τ _f which is a filtering value of the torque measured from the torque sensor 120 or the like.

정보를 이용하여 전술한 수식에서와 같이 필터링 토크값을 예측 연산한다. 여기서, 필터링 토크값은 예측 연산된 값으로 전술한 수식에서

에 해당한다. 이후, 산출 연산부(330)를 통해 실제 측정된 필터링 토크값과 예측 연산된 필터링 토크값을 비교하여 충돌 외력을 산출한다.According to this principle, the collision detection device 30 may convert the joint torque value? Measured from the current change of the torque sensor 120 of the manipulator 10 or the drive motor 130 as shown in FIG. The filtering process is generated through 310 to generate a filtering torque value. Here, the filtering torque value is an actual measured filtering torque value and corresponds to τ _f in the above formula. In addition, the physical property value (θ), position (q), and velocity of the manipulator 10 through the prediction operation unit 320.

The information is used to predict the filtering torque value as in the above formula. Here, the filtering torque value is a predicted calculated value in the above formula.

. Subsequently, a collision external force is calculated by comparing the actually measured filtering torque value and the predicted calculated filtering torque value through the calculation calculator 330.

In this case, the collision external force corresponds to a difference value between the actually measured filtering torque value and the predicted calculated filtering torque value. That is, as shown in the above formula, the measured measured torque is equal to the predicted calculated torque if the collision external force does not occur. If the two filtering torque values are different from each other, This is because the difference between them is the magnitude of the collision external force.

Of course, in this case, the information on the physical properties of the manipulator 10 is accurate, and the predicted and calculated filtering torque value is accurately calculated. Also, the noise is minimized from the torque sensor 120 and the like. will be. Accordingly, the low pass filter may be used as the torque filter 310 to minimize noise such as a sensor.

As described above, the manipulator collision sensing device according to the exemplary embodiment of the present invention may calculate the collision external force of the manipulator 10 without using the torque filter 310 to acquire the acceleration information of the manipulator 10.

In this case, in the collision safety strategy, collision detection may be configured to be performed in a manner of comparing the calculated collision external force with a preset threshold value. In this case, in order to avoid an error of whether the collision is detected, a physical property error of the manipulator or a sensor and a controller It is preferable to set a threshold experimentally in consideration of an error due to noise present in the circuit.

The present invention provides a manipulator control device for controlling the operation state of the manipulator 10 by using such a collision detection device, the following description of the manipulator control device with reference to FIGS.

3 is a block diagram conceptually illustrating a configuration of a manipulator control device according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a frequency pass region according to a type of torque filter according to an embodiment of the present invention.

The manipulator control apparatus according to an embodiment of the present invention is an operation control unit for controlling the operation state of the manipulator 10 according to the collision detection unit 30 and the collision detection unit 30 of the collision detection device described above It consists of 50.

That is, the manipulator 10 may control the movement of the link and the joint in a manner of controlling the driving motor 130 through the operation control unit 50. During the movement, the manipulator 10 may be controlled by the collision detection unit 30. When the collision of 10) is detected, the operation controller 50 may change and adjust the movement state of the manipulator 10 in such a manner as to stop the movement or to make another type of movement.

In this case, the collision detection unit 30 may grasp the position, size and direction of the impact external force, and the operation controller 50 may operate so that the manipulator 10 responds appropriately according to the characteristics of the impact external force.

For example, if a collision occurs at joint m of a manipulator with n joints, the external forces from joints 1 to m near the base of the manipulator will rise rapidly due to the collision, but the external forces at the joints from m + 1 to n will change. I never do that. Based on this, the location of the impact force can be inferred. In addition, the magnitude of the collision can be inferred from the calculated magnitude of the external force, and the direction of the collision can also be obtained from the sign of the calculated external force.

Therefore, the manipulator can detect the presence or absence of the collision by the collision detection unit 30 and at the same time determine the size, direction, and position of the collision. Accordingly, the manipulator ensures the safety of the operator by performing an appropriate response through the operation control unit 50. can do.

On the other hand, as described above, the collision detection unit 30 calculates the collision external force on the basis of the existing physical properties according to the type of the manipulator 10 model, in this case the manipulator 10 gripping or holding the workpiece. Since the physical property information of the manipulator 10 is continuously changed according to the type of a work piece, the manipulator control device according to an embodiment of the present invention may further include a model identification unit 40 for correcting and calculating such physical property information. have.

That is, the manipulator control device according to an embodiment of the present invention is configured in such a manner as to add an adaptive control-based model identification operation by extending the aforementioned collision detection unit 30 to compensate for material property errors and changes. do.

와 실제 측정한 필터링 토크값 τ_f는 같은 값을 가져야 한다. 따라서, 이러한 상황에서 예측한 필터링 토크값과 실제 측정한 필터링 토크값의 차이는 물성치 오차로 인한 것이며, 다음과 같이 정의할 수 있다.
If the property information of a given manipulator is correct in the situation that no external force is applied to the manipulator, the predicted filtering torque value

And the actual measured filtering torque value τ _f is Must have the same value. Therefore, the difference between the predicted filtering torque value and the actually measured filtering torque value is due to a physical property error, which can be defined as follows.

From this, the exact physical properties of the manipulator can be extracted using the following equation.

Where P is the property value correction gain.

The model identification unit 40 is additionally provided to correct the property values, and the prediction calculation unit 320 of the collision detection unit 30 receives the modified property information received by the model identification unit 40 to filter the torque value. It is configured to predict operation.

Therefore, when the manipulator 10 grips the workpiece or changes the gripped workpiece, the physical property information of the changed manipulator 10 is continuously corrected and calculated by the model identification unit 40. Since the collision detection unit 30 receives the modified property information obtained by the model identification unit 40 through the prediction operation unit 320 to calculate the filtering torque value and the collision external force, the collision detection unit 30 is more accurate without an error according to the property information. The impact force can be calculated.

As described above, as the model identification unit 40 and the collision detection unit 30 calculate the accurate collision external force without an error according to the property information, the movement state of the manipulator 10 is more appropriately changed by the operation control unit 50. This can further protect the operator from the risk of collision with the robot.

On the other hand, in addition to such physical property error, the collision detection unit 30 may also cause an error due to the noise of the sensor, so as to eliminate the error caused by the noise of the sensor and the control unit as described above low-pass through the torque filter 310 Can be applied as a filter.

In more detail, as shown in FIG. 4, in general, the noise generated by the sensor and the controller corresponds to the high frequency region Q2, while the error of the collision external force generated by the motion of the robot and the error of the physical properties is the low frequency region Q1. The collision includes the entire frequency component. Therefore, when the low pass filter is used as the torque filter 310, the noise of the sensor and the controller corresponding to the high frequency region is removed, and when the high pass filter is used, the error of the collision external force due to the motion of the robot and the error of the physical property is eliminated. do. In addition, when the band pass filter is used, only the intermediate region Q3 except for the high frequency region Q2 and the low frequency region Q1 passes, thereby eliminating the error of the collision external force and the noise of the sensor due to the physical property error. Only external force due to can be detected.

According to this characteristic, the user can selectively apply any one of the low pass filter, the band pass filter, and the high pass filter as the torque filter 310 as necessary, and when using the band pass filter, not only noise reduction but also property error It can be more advantageous to prevent the collision external force error caused.

The present invention provides a manipulator control method for controlling the operation state of the manipulator through such a manipulator control device, the operation flow of such a control method is shown step by step.

FIG. 5 is a flowchart illustrating an operation flow of a manipulator control method according to an embodiment of the present invention. FIG. 6 is a flowchart illustrating a control and operation flow of a manipulator according to an embodiment of the present invention. to be.

Manipulator control method according to an embodiment of the present invention is performed according to the operation principle of the above-described collision detection unit 30 and the operation control unit 50, and is performed in the form of adding the model identification unit 40, Here's a brief look at the flow of motion through it.

As shown in FIG. 5, the manipulator control method includes a collision detection step S1 of detecting a collision state with respect to the manipulator, and an operation control step of controlling an operation state of the manipulator according to a signal detected in the collision detection step S1 ( S2), wherein the collision detection step (S1) is a torque filtering step (S1-1) for generating a filtering torque value by filtering the joint torque value measured from the torque sensor or the drive motor of the manipulator, Prediction calculation step (S1-2) for predicting and calculating the filtering torque value through the properties, position, and velocity information of the manipulator, and filtering calculated through the torque filtering step (S1-1) and the prediction calculation step (S1-2), respectively. The external force calculation step (S1-3) which compares a torque value and calculates a collision external force is comprised.

In this case, a model identification step S3 of correcting and calculating the physical property information of the manipulator 10 may be further added according to the workpiece held by the manipulator 10. When the model identification step S3 is added as described above, the aforementioned prediction calculation step S1-2 is configured to predict the filtering torque value by receiving the modified physical property information through the model identification step S3.

Details of each step described above are the same as those described in the manipulator collision detection device or the manipulator control device, and thus, detailed descriptions thereof will be omitted.

According to such a control method, the manipulator 10 has an operation flow as shown in FIG. 6. That is, the model identification unit undergoes a model identification process (S10), and after determining whether the model realization process is completed (S11), if completed, the manipulator operates normally (S12). In this normal operation, the collision detection unit monitors whether a collision occurs (S13). When a collision is detected, the operation state of the manipulator is changed and controlled through the operation control unit in response to the collision external force (S14). On the other hand, if a collision does not occur, the manipulator 10 determines whether or not to hold the workpiece (S15), when the gripped the workpiece is cycled in such a way that goes through the model identification process (S10) for this again. .

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

10: Manipulator 20: Obstacle
30: collision detection unit 40: model identification unit
50: operation control unit

Claims (6)

In the manipulator collision detection device for detecting a collision state to the manipulator,
A torque filter which filters the joint torque values measured from the torque sensor or the drive motor of the manipulator to generate a filtering torque value;
A prediction calculator configured to predict and calculate the filtering torque value based on the physical property value, the position, and the speed information of the manipulator; And
Computation calculation unit for calculating the collision external force by comparing the filtering torque values respectively calculated by the torque filter and the prediction operation unit
Manipulator collision detection apparatus comprising a.
A collision detector for detecting a collision state with respect to the manipulator; And
An operation controller for controlling an operation state of the manipulator according to a signal of the collision detection unit;
Includes, the collision detection unit
A torque filter which filters the joint torque values measured from the torque sensor or the drive motor of the manipulator to generate a filtering torque value;
A prediction calculator configured to predict and calculate the filtering torque value based on the physical property value, the position, and the speed information of the manipulator; And
Computation calculation unit for calculating the collision external force by comparing the filtering torque values respectively calculated by the torque filter and the prediction operation unit
Manipulator control device comprising a.
3. The method of claim 2,
Further comprising a model identification unit for modifying the physical properties of the manipulator according to the workpiece held by the manipulator,
The predictive calculating unit of the collision detecting unit receives the property information received by the model identifying unit and predicts the filtering torque value.
3. The method of claim 2,
The torque filter is a manipulator control device, characterized in that any one of a low pass filter, a band pass filter and a high pass filter is applied according to the user's needs.
A collision detection step of detecting a collision state for the manipulator; And
An operation control step of controlling an operation state of the manipulator according to the signal detected in the collision detection step
Including the collision detection step,
A torque filtering step of filtering the joint torque values measured from the torque sensor or the driving motor of the manipulator to generate a filtering torque value;
A prediction calculation step of predicting and calculating the filtering torque value through the property value, position, and velocity information of the manipulator; And
An external force calculation step of calculating a collision external force by comparing the filtering torque values calculated through the torque filtering step and the prediction calculation step, respectively.
Manipulator control method comprising a.
The method of claim 5, wherein
And a model identification step of modifying and calculating property information of the manipulator according to the workpiece held by the manipulator.
The predictive operation step of the manipulator control method characterized in that for predicting the filtering torque value by receiving the modified physical property information through the model identification step.

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