关键词: 力感知, 碰撞感知, 力/力矩传感器, 碰撞位置检测

Abstract: Collision position detection of the end-effetor is an important part of force sensing,which can help the robot interact with the environment.The difficulty of calculating the collision position using force and torque data is multi-solution problem,and external constraints need to be introduced to find the unique solution.The previous methods all depend on the geometric constrain,and unable to cope with unstructured environments and deformation of the end-effector.To remedy the defects of the previous methods,a self-constrained collision localization model based on dynamic force and torque data was proposed,which had got rid of the geometric constraints and enhanced the robustness with the help of minimum-error method.Therefore,the application range was expended greatly.The experimental results showed that the proposed method  was better than the traditional method.

Key words: force sensing, contact sensing, force/torque sensor, collision positon detection