DEVICE FOR COLLISION DETECTION USING BAND DESIGNED DISTERBANC OBSERVER, AND THE METHOD

摘要

The present invention relates to a device for sensing disturbance caused by a collision of a manipulator using a broadband disturbance observing device and, more specifically, to the device for sensing disturbance caused by the collision of the manipulator using a broadband disturbance observing device which distinguishes the disturbance caused by an external collision from other disturbance caused by other reasons by using the broadband disturbance observing device which outputs the disturbance of a specific frequency band. The device for sensing disturbance caused by the collision of the manipulator using a broadband disturbance observing device includes a measurement unit which senses the measurement joint torque of the manipulator and senses an angle and an angular speed of an encoder; a calculating unit which calculates the estimated joint torque of the current position of the manipulator by using the angle and the angular speed of the encoder, and a system reverse model; an observing unit which compares the sensed joint torque and the calculated estimated joint torque and distinguishes only the disturbance generated by a collision; and a determination unit which determines the existence of the collision of the manipulator via the disturbance outputted by the observing unit.