METHOD FOR DETERMINING THE FORCE AND POINT OF CONTACT OF A COLLABORATIVE ROBOT WITH THE ENVIRONMENT Russian patent published in 2022 - IPC G01L1/08 B25J9/22 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics, more specifically, to collaborative robots, and can be used in industrial fields when performing work in environments inaccessible or hazardous for humans. Method involves receiving and further processing information from the sensors of the collaborative robot. The collaborative robot herein is pre-transformed into a virtual model thereof, wherein hidden areas inaccessible for contact are excluded. A grid with equidistant nodal points is formed on the virtual model, and a normal vector is determined for each nodal point; then clusters are formed from said nodal points, the central points whereof are determined. The force and point of contact are then determined using the transformed model and the data received from the sensors of the collaborative robot. The contact point and the corresponding force of contact are herein determined by iteratively repeating the following stages: determining the potential link of the robot with the contact by comparing the data of the moment of force received from the sensors in the joints of the collaborative robot with the threshold values of the moment of force; determining the values of the external force for each central point of the cluster; analysing the determined values of external forces inside the friction cone in order to determine the value of the objective function at the central points of clusters; and selecting the inner points of the clusters corresponding to the minimum values of the objective function.

EFFECT: increase in the degree of tactile sensing of the collaborative robot and increase in the data processing rate due to the hierarchical representation of the model.

3 cl, 2 dwg