柔性多关节液压机械臂运动过程碰撞检测方法

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中图分类号：TH113.2 文献标志码：A 文章编号：1671-5276（2025）03-0206-05

Abstract：Mechanicalamsarecommonlyusedforcomplex，ighprecisionoperationaltasks.Inesponsetotheisueofflexible multi joint hydraulicroboticarmswithmultipledegresoffreedomandtheneed tosimultaneouslyconsidertheend poseand overallconfigurationofteroboticarmduring task execution，curentresearchoncolision detection methodsrequiresalarge numberof exteralsensors tomonitorthepossibilityofcontactbetweentheroboticarmandtheexteralenvironment，resultingin lowdetectioneficiencyandhighfalsealarmrate.Acolisiondetectionmethodforthemotionprocessofaflexiblemultijoint hydraulicroboticarmisproposed.TheLagrangianfunctionalbalancemethodisusedtoanalyzethedynamiccharacteristicsofa flexiblemultijointhydraulicroboticamandstablishdynamicequations.Auniversaltorqueobserverisdesigned，whichtakes thereceiveddynamicequationsof theroboticarmasinputandutlizesastandardsecond-ordersystemandaPDregulatorfor torqueobservation.Duetodynamicequationerrorsandnoiseinterference，dynamicthresholdsareintroduced tocomparethe linkage threshold andtorqueobservation values，achieving colision detection.Meanwhile，a gravitycompensation algorithmis applied tocompensateforerors inthedetectionresults.Theexperimentalresultsshowthat theproposedmethodcanaccurately detecttheoccurence ofcollision forces during the motionof theroboticarm，with high collsion detection efficiency.

Keywords：hydraulicroboticam；dynamiccharacteristics；torqueobserver；gravitycompensationalgorithm；colsiondetection

0 引言

柔性多关节液压机械臂是一种具有柔性和多关节结构的机械臂，通过液压系统来提供动力和控制。（剩余5671字）