柔性多關(guān)節(jié)液壓機(jī)械臂運(yùn)動(dòng)過程碰撞檢測(cè)方法
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中圖分類號(hào)：TH113.2 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：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
柔性多關(guān)節(jié)液壓機(jī)械臂是一種具有柔性和多關(guān)節(jié)結(jié)構(gòu)的機(jī)械臂，通過液壓系統(tǒng)來提供動(dòng)力和控制。（剩余5671字）