柔性多關(guān)節(jié)液壓機械臂運動過程碰撞檢測方法

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中圖分類號：TH113.2 文獻標志碼：A 文章編號：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)液壓機械臂是一種具有柔性和多關(guān)節(jié)結(jié)構(gòu)的機械臂，通過液壓系統(tǒng)來提供動力和控制。（剩余5671字）