Title:
COLLISION SENSING DEVICE FOR ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/074703
Kind Code:
A1
Abstract:
A collision sensing device (1) for a robot comprises: a drive torque computing means (3) for computing an estimated value for the drive torque of the robot; a torque estimation error model learning means (5) for learning the difference between a drive torque calculated on the basis of a motor current for driving the robot and the estimated value calculated by the drive torque computing means (3), as well as the variation in the difference; a threshold value computing means (8) for computing a threshold value on the basis of a torque estimation error model learned by the torque estimation error model learning means (5); and a collision discerning means (9) for discerning a collision between the robot and an object by comparing the difference between the drive torque calculated on the basis of the motor current for driving the robot and the estimated value calculated by the drive torque computing means (3), and the threshold value calculated by the threshold value computing means (8).
Inventors:
MAEKAWA KIYOSHI (JP)
SAITO AKIO (JP)
SAITO AKIO (JP)
Application Number:
PCT/JP2020/037680
Publication Date:
April 14, 2022
Filing Date:
October 05, 2020
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J19/06
Foreign References:
| JP2014018941A | 2014-02-03 | |||
| JP2020019117A | 2020-02-06 | |||
| CN107253196A | 2017-10-17 | |||
| JP2013066965A | 2013-04-18 | |||
| JP2019012392A | 2019-01-24 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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