Research on Robot Collision Response Based on Human-Robot Collaboration

With the rapid advancement of science and technology, robotics is evolving towards more profound and extensive applications. Nevertheless, the inherent limitations of traditional industrial "caged" robots have significantly impeded the full utilization of their capabilities. Consequently, breaking free from these constraints and realizing human-robot collaboration has emerged as a new developmental trend in the robotics field. The collision-response mechanism, as a crucial safeguard for human-robot collaboration safety, has become a pivotal issue in enhancing the performance of human-robot interaction. To address this, an adaptive admittance control collision-response algorithm is proposed in this paper, grounded in the principle of admittance control. A collision simulation model of the AUBO-i5 collaborative robot is constructed. The effectiveness of the proposed algorithm is verified through simulation experiments focusing on both the end-effector collision and body collision of the robot, and by comparing it with existing admittance control algorithms. Furthermore, a collision-response experimental platform is established based on the AUBO-i5 collaborative robot. Experimental studies on end-effector and body collisions are conducted, providing practical validation of the reliability and utility of the proposed adaptive admittance control collision-response algorithm.