Research on Robot Collision Response Based on Human-Robot Collaboration

Area of Science:

• Robotics
• Control Systems
• Human-Robot Interaction

Background:

• Traditional industrial robots are limited by safety cages, hindering human-robot collaboration.
• Safe and effective collision response is critical for advancing collaborative robotics and human-robot interaction.
• Existing admittance control algorithms require improvement for robust collision handling.

Purpose of the Study:

• To develop and validate an adaptive admittance control collision-response algorithm for collaborative robots.
• To enhance the safety and performance of human-robot collaboration through improved collision detection and response.
• To address the limitations of traditional robots and facilitate seamless human-robot interaction.

Main Methods:

• An adaptive admittance control collision-response algorithm was designed based on admittance control principles.
• A collision simulation model for the AUBO-i5 collaborative robot was created.
• Simulation experiments compared the proposed algorithm against existing methods for end-effector and body collisions.

Main Results:

• The proposed adaptive admittance control algorithm demonstrated effectiveness in simulation.
• Collision response performance was validated for both end-effector and body impacts.
• The algorithm showed reliability and utility in simulated scenarios, outperforming existing methods.

Conclusions:

• The adaptive admittance control collision-response algorithm provides a reliable solution for enhancing collaborative robot safety.
• Practical validation through experiments on the AUBO-i5 robot confirms the algorithm's utility.
• This advancement supports the trend towards more integrated and safer human-robot collaboration.