A momentum-based collision detection algorithm for industrial robots

This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.