Purpose

This paper aims to address the collision problem between robot and the external environment (including human) in an unstructured situation. A new collision detection and torque optimization control method is proposed.

Design/methodology/approach

Firstly, when the collision appears, a second-order Taylor observer is proposed to estimate the residual value. Secondly, the band-pass filter is used to reduce the high-frequency torque modeling dynamic uncertainty. With the estimate information and the torque value, a variable impedance control approach is then synthesized to guarantee that the collision is avoided or the collision will be terminated with different contact models and positions. However, in terms of adaptive linear force error, the variation of the thickness of the boundary layer is controlled by the new proximity function.

Findings

Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process.

Originality/value

Origin approach and origin experiment.

中文翻译：

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基于阻抗法和动态建模的碰撞检测与力控制

目的

本文旨在解决非结构化情况下机器人与外部环境（包括人）之间的碰撞问题。提出了一种新的碰撞检测与转矩优化控制方法。

设计/方法/方法

首先，当碰撞出现时，提出了一个二阶泰勒观测器来估计残值。其次，带通滤波器用于减少高频转矩建模的动态不确定性。利用估计信息和扭矩值，然后综合使用可变阻抗控制方法，以确保避免发生碰撞或以不同的接触模型和位置终止碰撞。但是，就自适应线性力误差而言，边界层厚度的变化由新的接近函数控制。

发现

最后，实验结果表明所提出的控制方法具有更好的性能，实现了碰撞过程中的力控制。

创意/价值

起源方法和起源实验。