Google Patentsopen access

Collision handling by a robot — Franka Emika Gmbh (US11370117B2)

ABSTRACT

Abstract

The invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor Sdistal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors Si for measuring/estimating proprioceptive data, wherein the sensors Si are arbitrarily positioned along the kinematic chain structure, the method including: providing a model describing the dynamics of the robot; measuring and/or estimating with sensor Sdistal.i force/torque Fext,S.distal.i in the most distal link of at least one of the kinematic chains; measuring and/or estimating with the sensors Si proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τm, external forces FS, a base orientation φB(t) and a base velocity {dot over (x)}(t)B; generating an estimate {circumflex over (τ)}∈ of the generalized external forces τext with a momentum observer based on at least one of the proprioceptive data and the model; generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)}∈ and τm; estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})}D of point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t); compensating the external forces FD for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})}D and for gravity effects to obtain an estimated external wrench {circumflex over (F)}ext,S.i; compensating {circumflex over (τ)}∈ for the Jacobian JS.distal.iT transformed Fext,S.distal.i to obtain an estimation {circumflex over (τ)}ext,col of generalized joint forces originating from unexpected collisions; detecting a collision based on given thresholds τthresh and FS.i,thresh if {circumflex over (τ)}ext,col>τthresh and/or if {circumflex over (F)}ext,S.i>FS.i,thresh.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is the U.S. National Phase of PCT/EP2018/064075, filed on 29 May 2018, which claims priority to German Patent Application No. 10 2017 005 080.5, filed on 29 May 2017, the entire contents of which are incorporated herein by reference.

BACKGROUND

Field

The invention relates to a method of collision handling for a robot and to a robot designed and set up to carry out the method.

Related Art

Humanoid robots executing manipulation tasks are usually in contact with their environment at several contact points. The robot is in contact with its environment at the feet via ground contacts and the hands for executing a desired manipulation task. In order to correctly react to undesired collisions, such as an unwanted contact with a colliding object at the knee, the robot has to have the ability to detect collisions, analyze the contact situation(s) and react accordingly. In summary, the collision has to be detected, isolated and identified. Several approaches to the problem of collision detection for manipulators exist. In publications [22] and [19], a model based reference torque is compared to the actuator torque measured via motor currents. Publication [12] uses a similar approach with an adaptive impedance controller. Publication [20] observes disturbance torques on a per joint basis, ignoring the coupling between the joints. All of the above methods employ time invariant thresholds for collision detection. An approach with time variant thresholds based on the estimated modeling error can be found in publications [17] and [16], where a generalized momentum based observer is used to estimate the disturbance torques in the joints and bounds for the modeling errors. A drawback of all the aforementioned methods is that they require acceleration measurements, which generally introduce high noise. Usually, approaches to finding the contact location (collision isolation) utilize tactile skins as disclosed in publications [2], [11], [10], and [18]. With a suitable tactile skin, the contact location can be found precisely and robustly. However, it is desirable to be able to do so without the need of additional sensors, using only proprioceptive sensing.

Collision identification aims at finding an external contact wrench F ext and an external generalized joint force τ ext . External joint torque estimation for serial link robots with a fixed base was proposed in publication [6], which was then extended to and validated for flexible joint robots with the DLR (German Aerospace Center) lightweight robot in publication [3]. This was the first method to simultaneously detect collisions, find the contact location, and estimate the external torques, i.e., solve the first three phases of the collision handling problem. The approach utilizes the decoupling property of a generalized momentum based disturbance observer disclosed in publications [4] and [9], which does not rely on the measurement of accelerations. Contact wrenches are often determined with the help of force/torque sensors. Publication [14] uses a generalized momentum based disturbance observer with directly excluded measured foot forces to estimate only external joint torques resulting from manipulation for the humanoid robot TORO. For contact force estimation contacts at the hands were assumed. In publication [8], the ground contact forces at the feet of a humanoid robot are estimated with an optimal load distribution approach based on desired gross applied force. For the NASA robot “Valkyrie” these are measured with force/torque sensors located in the ankles as disclosed in publication [15].

SUMMARY

It is the task of the invention to provide a more effective detection to the end of identification and isolation of collisions of robots, especially of humanoids.

A first aspect of the invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure.

The method according to the first aspect including the following steps:

providing a model describing the dynamics of the robot; measuring and/or estimating with sensor S distal.i force/torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains; measuring and/or estimating with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ; generating an estimate {circumflex over (τ)} e of the generalized external forces τ ext with a momentum observer, based on at least one of the proprioceptive data and the model; generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ; estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t); compensating F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ; compensating {circumflex over (τ)} ∈ for the Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and detecting a collision based on given thresholds τ thresh and F S.i,thresh if {circumflex over (τ)} ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

On several occasions a running index i is used in the above and the following. The person skilled in the art will apprehend it as a statement to denote a respective element of a plurality of a finite—or possibly in some cases infinite—set, while the number of elements in a finite set can also be “one”. In particular, if i refers to a respective numbering of collisions of the robot with external objects, and if only and for all times i=1 holds, it means that there is only one single collision. If i can be i=1 or i=2, there are two collisions to which reference can be made. The same applies beyond the numbering of collisions to the numbering of sensors and others.

The model describing the dynamics of the robot comprises, in particular, an information about the mass and, in particular, the mass distribution along the kinematic chain structure. From the latter, a moment of inertia of the kinematic chain structure is known as well.

The robot is preferably a humanoid robot, which is preferably modeled as:

(

M BB

M BJ

M JB

M JJ

)

⁢

(

q ¨

B

q ¨

J

)

+

(

C B

⁡

(

q .

)

C J

⁡

(

q .

)

)

⁢

(

q B

q J

)

+

(

g B

g J

)

=

(

0

τ Jm

)

-

(

0

τ Jf

)

+

(

τ Bext

τ Jext

)

( 1 )

where q B =(r b φ B ) T and q=(q b q J ) T denote the base and robot generalized coordinates, consisting of the Cartesian base position r B ∈

3 Euler angle base orientation φ B ∈

3 and joint angles q J ∈

n

J . Base and joint entries are marked with index “B” and “J”. Further, equation (1) can be written in the more compact form

M ( q ) {umlaut over (q)}+C ( q,{dot over (q)} ) {dot over (q)}+g ( q )=τ m −τ f +τ ext   (2)

where M(q) denotes the mass matrix, C(q, {dot over (q)}) the matrix of centrifugal and Coriolis terms, g(q) the gravity vector, where the dependency on q is left out for brevity in (1) and for sake of brevity q(t) and its time derivatives are shortly written as q and {dot over (q)} and so on. The vectors τ m , τ f and τ ext denote the generalized motor joint forces, friction joint forces and external joint forces. Cartesian forces f B and moments m B are projected to the base generalized rotation coordinates with the angular velocity Jacobian J ω with ω B =J ω (φ B ){dot over (φ)} B . Generalized external forces F ext,i are projected via the corresponding geometric floating base Jacobian J C.i of the point of contact r C.i to the generalized joint forces

τ

ext , i

=

(

τ

B , ext , i

τ

J , ext , i

)

=

J

C . i

T

⁢

F

ext , i

=

(

I 3

-

S ⁡

(

r

BC . i

)

⁢

J ω

RJ

JtC . i

0

J ω

RJ

JRC . i

)

T

⁢

(

f

ext , i

m

ext , i

)

( 3 )

where J JtC.i and J JRC.i are the corresponding translational and rotational submatrices of the joint Jacobian and R is the rotation matrix from robot base to world frame, cf. publications [14] and [1].

The kinematic chain structure is preferably including joint torque sensing and an arbitrary number of sensors S i for measuring force/torque arbitrarily positioned along the kinematic chain structure. In addition, the base orientation φ B and the generalized base velocity {dot over (x)} B can be measured. Now the general objective is to detect, isolate and identify any collision of an external object with the kinematic chain structure. In this context, collision detection means, in particular, to generate a number of binary signals telling whether a collision is happening or not at a certain topological part of the robot. Isolation denotes to find the contact location r C.i for a collision i. Identification aims at estimating the generalized external joint force τ ext and the external contact wrenches F ext,i . In summary, the objective is to find all contact locations, the corresponding contact wrenches and telling which parts of the kinematic cha

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is the U.S. National Phase of PCT/EP2018/064075, filed on 29 May 2018, which claims priority to German Patent Application No. 10 2017 005 080.5, filed on 29 May 2017, the entire contents of which are incorporated herein by reference.

BACKGROUND

Field

The invention relates to a method of collision handling for a robot and to a robot designed and set up to carry out the method.

Related Art

Humanoid robots executing manipulation tasks are usually in contact with their environment at several contact points. The robot is in contact with its environment at the feet via ground contacts and the hands for executing a desired manipulation task. In order to correctly react to undesired collisions, such as an unwanted contact with a colliding object at the knee, the robot has to have the ability to detect collisions, analyze the contact situation(s) and react accordingly. In summary, the collision has to be detected, isolated and identified. Several approaches to the problem of collision detection for manipulators exist. In publications [22] and [19], a model based reference torque is compared to the actuator torque measured via motor currents. Publication [12] uses a similar approach with an adaptive impedance controller. Publication [20] observes disturbance torques on a per joint basis, ignoring the coupling between the joints. All of the above methods employ time invariant thresholds for collision detection. An approach with time variant thresholds based on the estimated modeling error can be found in publications [17] and [16], where a generalized momentum based observer is used to estimate the disturbance torques in the joints and bounds for the modeling errors. A drawback of all the aforementioned methods is that they require acceleration measurements, which generally introduce high noise. Usually, approaches to finding the contact location (collision isolation) utilize tactile skins as disclosed in publications [2], [11], [10], and [18]. With a suitable tactile skin, the contact location can be found precisely and robustly. However, it is desirable to be able to do so without the need of additional sensors, using only proprioceptive sensing.

Collision identification aims at finding an external contact wrench F ext and an external generalized joint force τ ext . External joint torque estimation for serial link robots with a fixed base was proposed in publication [6], which was then extended to and validated for flexible joint robots with the DLR (German Aerospace Center) lightweight robot in publication [3]. This was the first method to simultaneously detect collisions, find the contact location, and estimate the external torques, i.e., solve the first three phases of the collision handling problem. The approach utilizes the decoupling property of a generalized momentum based disturbance observer disclosed in publications [4] and [9], which does not rely on the measurement of accelerations. Contact wrenches are often determined with the help of force/torque sensors. Publication [14] uses a generalized momentum based disturbance observer with directly excluded measured foot forces to estimate only external joint torques resulting from manipulation for the humanoid robot TORO. For contact force estimation contacts at the hands were assumed. In publication [8], the ground contact forces at the feet of a humanoid robot are estimated with an optimal load distribution approach based on desired gross applied force. For the NASA robot “Valkyrie” these are measured with force/torque sensors located in the ankles as disclosed in publication [15].

SUMMARY

It is the task of the invention to provide a more effective detection to the end of identification and isolation of collisions of robots, especially of humanoids.

A first aspect of the invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure.

The method according to the first aspect including the following steps:

providing a model describing the dynamics of the robot; measuring and/or estimating with sensor S distal.i force/torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains; measuring and/or estimating with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ; generating an estimate {circumflex over (τ)} e of the generalized external forces τ ext with a momentum observer, based on at least one of the proprioceptive data and the model; generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ; estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t); compensating F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ; compensating {circumflex over (τ)} ∈ for the Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and detecting a collision based on given thresholds τ thresh and F S.i,thresh if {circumflex over (τ)} ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

On several occasions a running index i is used in the above and the following. The person skilled in the art will apprehend it as a statement to denote a respective element of a plurality of a finite—or possibly in some cases infinite—set, while the number of elements in a finite set can also be “one”. In particular, if i refers to a respective numbering of collisions of the robot with external objects, and if only and for all times i=1 holds, it means that there is only one single collision. If i can be i=1 or i=2, there are two collisions to which reference can be made. The same applies beyond the numbering of collisions to the numbering of sensors and others.

The model describing the dynamics of the robot comprises, in particular, an information about the mass and, in particular, the mass distribution along the kinematic chain structure. From the latter, a moment of inertia of the kinematic chain structure is known as well.

The robot is preferably a humanoid robot, which is preferably modeled as:

(

M BB

M BJ

M JB

M JJ

)

⁢

(

q ¨

B

q ¨

J

)

+

(

C B

⁡

(

q .

)

C J

⁡

(

q .

)

)

⁢

(

q B

q J

)

+

(

g B

g J

)

=

(

0

τ Jm

)

-

(

0

τ Jf

)

+

(

τ Bext

τ Jext

)

( 1 )

where q B =(r b φ B ) T and q=(q b q J ) T denote the base and robot generalized coordinates, consisting of the Cartesian base position r B ∈

3 Euler angle base orientation φ B ∈

3 and joint angles q J ∈

n

J . Base and joint entries are marked with index “B” and “J”. Further, equation (1) can be written in the more compact form

M ( q ) {umlaut over (q)}+C ( q,{dot over (q)} ) {dot over (q)}+g ( q )=τ m −τ f +τ ext   (2)

where M(q) denotes the mass matrix, C(q, {dot over (q)}) the matrix of centrifugal and Coriolis terms, g(q) the gravity vector, where the dependency on q is left out for brevity in (1) and for sake of brevity q(t) and its time derivatives are shortly written as q and {dot over (q)} and so on. The vectors τ m , τ f and τ ext denote the generalized motor joint forces, friction joint forces and external joint forces. Cartesian forces f B and moments m B are projected to the base generalized rotation coordinates with the angular velocity Jacobian J ω with ω B =J ω (φ B ){dot over (φ)} B . Generalized external forces F ext,i are projected via the corresponding geometric floating base Jacobian J C.i of the point of contact r C.i to the generalized joint forces

τ

ext , i

=

(

τ

B , ext , i

τ

J , ext , i

)

=

J

C . i

T

⁢

F

ext , i

=

(

I 3

-

S ⁡

(

r

BC . i

)

⁢

J ω

RJ

JtC . i

0

J ω

RJ

JRC . i

)

T

⁢

(

f

ext , i

m

ext , i

)

( 3 )

where J JtC.i and J JRC.i are the corresponding translational and rotational submatrices of the joint Jacobian and R is the rotation matrix from robot base to world frame, cf. publications [14] and [1].

The kinematic chain structure is preferably including joint torque sensing and an arbitrary number of sensors S i for measuring force/torque arbitrarily positioned along the kinematic chain structure. In addition, the base orientation φ B and the generalized base velocity {dot over (x)} B can be measured. Now the general objective is to detect, isolate and identify any collision of an external object with the kinematic chain structure. In this context, collision detection means, in particular, to generate a number of binary signals telling whether a collision is happening or not at a certain topological part of the robot. Isolation denotes to find the contact location r C.i for a collision i. Identification aims at estimating the generalized external joint force τ ext and the external contact wrenches F ext,i . In summary, the objective is to find all contact locations, the corresponding contact wrenches and telling which parts of the kinematic chain structure are in collision at the given time.

In particular, for the following measurement quantities, a measured and/or estimated value is provided as follows:

the base orientation φ B (t) and the base velocity {dot over (x)}(t) B : obtained preferably with a gyroscope and/or a Kalman estimator; for the links: τ m : with a force/torque sensor and F ext,i with a force/torque sensor; and for the end-effector(s): F ext,i : with a force/torque sensor.

The estimate {circumflex over (τ)} ∈ of the generalized external forces τ ext , generated by all contacts, is obtained with the help of a momentum observer and based on at least one of the proprioceptive data and the model. Preferably, a generalized momentum observer from publications [4], [5], and [7] is applied, which is defined as

{circumflex over (τ)} ∈ =K O =( M ( q ) {dot over (q)}−∫ 0 t [τ m −γ( q,{dot over (q)} )+{circumflex over (τ)} ∈ ] d{tilde over (t)} )  (4)

It generates an estimate {circumflex over (τ)} ∈ of the generalized external forces acting on the kinematic chain structure, where K o =diag{k O,i }>0 is the observer gain matrix and

γ( q,{dot over (q)} ):= n ( q,{dot over (q)} )− {dot over (M)} ( q ) {dot over (q)}=g ( q )+ C ( q,{dot over (q)} ) {dot over (q)}−{dot over (M)} ( q ) {dot over (q)}=g ( q )− C T ( q,{dot over (q)} ) {dot over (q)}   (5)

due to the skew-symmetry of {dot over (M)}(q)−2C(q,{dot over (q)}), cf. publication [3]. Under ideal conditions (q, {dot over (q)}, M(q), C(q, {dot over (q)}), g(q) are known exactly), the observer dynamics are decoupled and every component {circumflex over (τ)} ∈ follows the first order dynamics:

K O −1 {dot over ({circumflex over (τ)})} ∈ +{circumflex over (τ)} ∈ =τ ext   (6)

Therefore, {circumflex over (τ)} ∈ is simply a first order filtered version of τ ext .

In order to be able to determine a maximum number of contact wrenches and locations, the information of the force/torque sensors from the observed generalized external joint forces {circumflex over (τ)} ∈ is preferably excluded as shown in publication [21]. Therefore, it is compensated for the dynamic and static forces generated by the inertia attached to each sensor. For this compensation, the acceleration in Cartesian space {umlaut over (x)} D of its center of mass D is required. It is preferably calculated by

x ¨

D

=

(

r ¨

D

ω .

D

)

T

=

J D

⁢

q ¨

+

J .

D

⁢

q .

( 7 )

where J D is the Jacobian of point D. For this, the generalized acceleration {umlaut over (q)} is needed to calculate the Cartesian acceleration. An estimate {umlaut over ({circumflex over (q)})} of {umlaut over (q)} can be obtained from extending the disturbance observer as shown in equation (4). Using its inner state, i.e., the generalized momentum p=M(q){dot over (q)}, it follows for the estimate of its time derivative:

{dot over ( {circumflex over (q)} )}= M ( q ){umlaut over ( {circumflex over (q)} )}+ {dot over (M)} ( q ) {dot over (q)}=τ m −γ( q,{dot over (q)} )+{circumflex over (τ)}∈  (8)

From this, the estimated acceleration follows as:

{umlaut over ( {circumflex over (q)} )}= M ( q ) −1 ({dot over ( {circumflex over (p)} )}− {dot over (M)} ( q ) {dot over (q)} )= M ( q ) −1 (τ m −n ( q,{dot over (q)} )+{circumflex over (τ)} ∈ )  (9)

The dynamics of the acceleration error e={umlaut over (q)}−{umlaut over ({circumflex over (q)})} derived using equation (8):

e

=

⁢

M

⁡

(

q

)

-

1

⁢

(

p

.

-

M

.

⁡

(

q

)

⁢

q

.

)

-

M

⁡

(

q

)

-

1

⁢

(

p

.

^

-

M

.

⁡

(

q

)

⁢

q

.

)

=

⁢

M

⁡

(

q

)

-

1

⁢

(

τ

m

-

n

⁡

(

q

,

q

.

)

+

τ

ext

-

(

τ

m

-

n

⁡

(

q

,

q

.

)

⁢

τ

^

ϵ

)

)

=

⁢

M

⁡

(

q

)

-

1

⁢

(

τ

ext

+

τ

^

ϵ

)

(

10

)

Using the Laplace transform of equations (6) and (10), the following dynamics are obtained:

e

=

M

⁡

(

q

)

-

1

⁢

(

sk

O

,

1

-

1

⁢

τ

ext

,

1

1

+

sk

O

,

1

-

1

⁢

⁢

…

⁢

⁢

sk

O

,

n

-

1

⁢

τ

ext

,

n

1

+

sk

O

,

n

-

1

)

(

11

)

The error dynamics consist of a vector with a linear dynamics triggered by τ ext , which is coupled nonlinearly by the inverted mass matrix to the error e. The estimate {umlaut over ({circumflex over (q)})} is preferably used to obtain {umlaut over ({circumflex over (x)})} D according to equation (7) and therefore the external wrench F ext , as shown in the following.

The compensation of measured generalized external forces F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i is preferably done as follows:

Considering a free body excerpt from a body abutting on an end-effector, Newton's second law yields for a sensor attached to this body:

m D {umlaut over (r)} D =m D g+f ext −f S   (12)

wherein m D is the body mass and its inertia tensor is I D . There are generally gravitational and dynamic forces measured in the sensor, while the dynamic forces are visible in the left hand side of equation (12). It follows for the sensed external force:

f

ext,S =f S +m D {umlaut over (r)} D −m d g   (13)

Equation (13) shows that the sensor does not measure the pure external forces only, but in general also forces due to gravity and inertia. Thus, F S is to be corrected by these dynamics in order to obtain the true external wrench. To obtain the external moment, Euler's law of rigid body motion is applied to the center of gravity D of the body:

I D {dot over (ω)} D +ω D ×I d ω D =m ext,E −m S −r DS ×f S +r DE ×f ext   (14)

This leads to the sensed external moment

m ext,S :=m ext,E +r SE ×f ext =m S +I D {dot over (ω)} D +ω D ×I D ω D +r DS ×( f S −f ext )  (15)

Equations (13) and (14) result in the external wrench

F

_

ext

,

S

=

(

f

_

⁢

ext

,

S

m

_

⁢

ext

,

S

)

=

F

S

+

(

m

D

⁢

I

3

0

m

D

⁢

S

⁡

(

r

SD

)

I

D

)

⁢

(

(

r

¨

D

ω

.

D

)

-

(

g

0

)

)

+

(

0

ω

D

×

I

D

⁢

ω

D

)

(

16

)

In equation (16), I 3 denotes the three dimensional unit matrix, g the Cartesian gravity vector, r SD the vector from the center of mass of the inertia attached to the sensor to the sensor and 0 the zero matrix of according size. The S operator denotes the skew-symmetric matrix representing the cross product with its argument. All entities are expressed in the world frame. Using {umlaut over ({circumflex over (q)})} instead of {umlaut over (q)} to computed {umlaut over ({circumflex over (x)})} D , the estimated external wrench in point S is preferably obtained as follows:

F

^

ext

,

S

=

F

S

+

(

m

D

⁢

I

3

0

m

D

⁢

S

⁡

(

r

SD

)

I

D

)

⁢

(

(

r

¨

D

ω

.

D

)

-

(

g

0

)

)

+

(

0

ω

D

×

I

D

⁢

ω

D

)

(

17

)

If the sensor happens to be in a link not at the distal end of the kinematic chain, the compensation wrenches for each body b following the sensor in the kinematic chain become

F

c , b

=

(

m

D . b

⁢

I 3

0

m

D . b

⁢

S ⁡

(

r

SD . b

)

I

D . b

)

⁢

(

(

r ¨

D . b

ω .

D

)

-

(

g

0

)

)

+

(

0

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I

D . b

⁢

ω

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)

( 18 )

which for all b are summed up for said compensation. This operation corresponds to the Newton-Euler method for calculating multibody dynamics. Therefore, in this case, the external wrench is, in

CLAIMS

Claims ( 22 )

The invention claimed is:

1. A method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure comprises a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in a most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure, the method comprising:

providing a model describing dynamics of the robot;

measuring and/or estimating with sensor S distal.i force or torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains;

measuring and/or estimating with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ;

generating an estimate {circumflex over (τ)} ∈ of generalized external forces τ ext with a momentum observer based on at least one of the proprioceptive data and the model;

generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ;

estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of a point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t);

compensating F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ;

compensating {circumflex over (τ)} ∈ for a Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and

detecting a collision based on given thresholds τ thresh and F S.i,thresh if τ ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

2. The method according to claim 1 , further comprising generating recursively compensation wrenches for compensating the external forces F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i , if multiple sensors S are attached to one of the joints or links.

3. The method according to claim 1 , further comprising determining contact locations r C of collisions with the kinematic chain structure by calculating a line of force action r d +λf i /∥f i ∥ with r d =(S T (f i )) # m i of the collision and by intersecting the line of force action with the kinematic chain structure geometry.

4. The method according to claim 3 , further comprising:

determining full contact Jacobians J C.i =J c,i J i based on the determined contact locations r C ; and

determining the external wrenches (F ext,1 T . . . F ext,n T )=(J C.1 T . . . J C.n T ) # τ ext,col .

5. The method according to claim 4 , further comprising controlling the robot dependent on r C and (F ext,1 T . . . F ext,n T ) T .

6. The method according to claim 1 , wherein the robot is a humanoid robot.

7. A robot capable of collision handling, the robot comprising a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure comprises a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in a most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure, the robot designed and set up to:

provide a model describing dynamics of the robot;

measure and/or estimate with sensor S distal.i force or torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains;

measure and/or estimate with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ;

generate an estimate {circumflex over (τ)} ∈ of generalized external forces τ ext with a momentum observer based on at least one of the proprioceptive data and the model;

generate an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ;

estimate a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of a point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t);

compensate F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ;

compensate {circumflex over (τ)} ∈ for a Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and

detect a collision based on given thresholds τ thresh and F S.i,thresh if {circumflex over (τ)} ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

8. The robot according to claim 7 , wherein the robot comprises a data interface with a data network, and wherein the robot is designed and set up to download system programs for setting up and controlling the robot from the data network.

9. The robot according to claim 7 , wherein the robot is designed and set up to download parameters for the system programs from the data network.

10. The robot according to claim 7 , wherein the robot is designed and set up to enter parameters for the system programs via a local input interface and/or via a teach-in process, and wherein the robot is manually guided.

11. The robot according to claim 7 , wherein the robot is designed and set up such that downloading system programs and/or respective parameters from the data network is controlled by a remote station, the remote station being part of the data network.

12. The robot according to claim 7 , wherein the robot is designed and set up such that system programs and/or respective parameters locally available at the robot are sent to one or more participants of the data network based on a respective request received from the data network.

13. The robot according to claim 7 , wherein the robot is designed and set up such that system programs with respective parameters available locally at the robot are capable of being started from a remote station, the remote station being part of the data network.

14. The robot according to claim 7 , wherein the robot is designed and set up such that the remote station and/or the local input interface comprises a human-machine interface HMI designed and set up for entry of system programs and respective parameters, and/or for selecting system programs and respective parameters from a multitude of system programs and respective parameters.

15. The robot according to claim 14 , wherein the human-machine interface HMI is designed and set up such that entries are possible via drag-and-drop entry on a touchscreen, a guided dialogue, a keyboard, a computer-mouse, a haptic interface, a virtual-reality interface, an augmented-reality interface, an acoustic interface, via a body tracking interface, based on electromyographic data, based on electroencephalographic data, via a neuronal interface, or a combination thereof.

16. The robot according to claim 14 , wherein the human-machine interface HMI is designed and set up to deliver additive, visual, haptic, olfactory, tactile, electrical feedback, or a combination thereof.

17. The robot according to claim 7 , further designed and set up to generate recursively compensation wrenches for compensating the external forces F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i , if multiple sensors S are attached to one of the joints or links.

18. The robot according to claim 7 , further designed and set up to determine contact locations r C of collisions with the kinematic chain structure by calculating a line of force action r d +λf i /∥f i ∥ with r d =(S T (f i )) # m i of the collision and by intersecting the line of force action with the kinematic chain structure geometry.

19. The robot according to claim 18 , further designed and set up to:

determine full contact Jacobians J C.i =J c,i J i based on the determined contact locations r C ; and

determine the external wrenches (F ext,1 T . . . F ext,n T ) T =(J C.1 T . . . J C.n T ) # τ ext,col .

20. The robot according to claim 18 , further designed and set up to control the robot dependent on r C and (F ext,1 T . . . F ext,n T ) T .

21. A system for collision handling of a robot, the robot comprising a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure comprises a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in a most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure, the system comprising:

a data processing device; and

a memory storing instructions that, when executed by the data processing device, cause the data processing device to perform operations comprising:

providing a model describing dynamics of the robot;

measuring and/or estimating with sensor S distal.i force or torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains;

measuring and/or estimating with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ;

generating an estimate {circumflex over (τ)} ∈ of generalized external forces τ ext with a momentum observer based on at least one of the proprioceptive data and the model;

generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ;

estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of a point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t);

compensating F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ;

compensating {circumflex over (τ)} ∈ for a Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and

detecting a collision based on given thresholds τ thresh and F S.i,thresh if {circumflex over (τ)} ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

22. A non-transitory storage medium storing instructions for collision handling of a robot, the robot comprising a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure comprises a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S distal.i in a most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S i for measuring/estimating proprioceptive data, wherein the sensors S i are arbitrarily positioned along the kinematic chain structure, the instructions when executed by a data processing device cause the data processing device to perform operations comprising:

providing a model describing dynamics of the robot;

measuring and/or estimating with sensor S distal.i force or torque F ext,S.distal.i in the most distal link of at least one of the kinematic chains;

measuring and/or estimating with the sensors S i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ m , external forces F S , a base orientation φ B (t) and a base velocity {dot over (x)}(t) B ;

generating an estimate {circumflex over (τ)} ∈ of generalized external forces τ ext with a momentum observer based on at least one of the proprioceptive data and the model;

generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)} ∈ and τ m ;

estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})} D of a point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t);

compensating F S for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})} D and for gravity effects to obtain an estimated external wrench {circumflex over (F)} ext,S.i ;

compensating {circumflex over (τ)} ∈ for a Jacobian J S.distal.i T transformed F ext,S.distal.i to obtain an estimation {circumflex over (τ)} ext,col of generalized joint forces originating from unexpected collisions; and

detecting a collision based on given thresholds τ thresh and F S.i,thresh if {circumflex over (τ)} ext,col >τ thresh and/or if {circumflex over (F)} ext,S.i >F S.i,thresh .

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