Research on collision detection of robot outer surface based on six-dimensional force sensor
WANG Zhijun
WANG Yunyi
LI Zhanxian
Abstract：[Objective]With the continuous advancement of human-robot collaboration technology,it has become a predominant working mode in the manufacturing industry.In human-robot collaboration scenarios,the robot collision detection serves as a critical foundation for ensuring the safe human-robot interaction.To address the limitations of existing collision detection algorithms,an algorithm was proposed to detect the collision point on a robot body by deriving its position coordinates based on the detection results of a six-dimensional force sensor installed on the base of the articulated robot and combined with the equation of the robot's outer surface.[Methods]Firstly,a collision detection model for articulated robots was established.Secondly,taking an articulated robot with cylindrical external surface equations for its links as an example,the collision point was solved by categorizing collisions into nine scenarios and sequentially determining the coordinates of collision points for each case.Finally,collision detection tests were conducted on an articulated robot.[Results]The collision detection results are consistent with the actual collision positions,validating the correctness of the theoretical analysis.The findings of this study provide a basis for the research on safety-related issues in the human-robot collaboration.
Keywords：Six-dimensional force sensorCollision point detectionArticulated robotSpace force line vector
Publication Date：2025-08-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 30-37 )