COLLISION DETECTION SYSTEM OF MANIPULATOR USING TORQUE FILTERING AND CONTROL SYSTEM AND METHOD OF MANIPULATOR USING THE SAME

摘要

The present invention relates to a manipulator collision sensing device, a manipulator control device using the same, and a manipulator control method. The manipulator collision sensing device based an active mode is provided to assume an external force applied to a manipulator by using a torque filtering process; to determine the collision of the manipulator based on the assumed external force; and to complement the limitation of an existing device vulnerable to a material property error. The manipulator control device and the manipulator control method effectively sense collision conditions such as the position, the intensity, and a direction of the collision by using the collision sensing device and control the operation of the manipulator to make the manipulator cope with the sensed collision conditions, thereby enabling the efficient and safe cooperation between a robot and a human being. [Reference numerals] (10) Manipulator;(310) Torque filter;(320) Estimation operating unit;(330) Calculation operating unit;(40) Model identification unit;(50) Motion control unit