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This paper proposes a method for joints control of an articulated arm robot in various situations for overload and collisions. The method consists of an algorithm developed to analyze the difference between the measured angular position of a joint and programed position at specific time over the programed joint travel. Based on the results the joint load, overload, or collision can be calculated. No additional sensors are required, which means low cost and high reliability of the robot. In this paper, based on the proposed method, the algorithm was developed and employed into a 5-axis educational robot controller. Experimental results confirm the effectiveness of this indirect method.

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Method of Robot Joints Control in Overload and Collisions Cases

  • 会议论文

  • 发表日期：

    2025年

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  • Anania Florea Dorel,
  • Anastasiu Ioan Alexandru,
  • Stoica Marilena,
  • Pena Andra Elena

摘要

This paper proposes a method for joints control of an articulated arm robot in various situations for overload and collisions. The method consists of an algorithm developed to analyze the difference between the measured angular position of a joint and programed position at specific time over the programed joint travel. Based on the results the joint load, overload, or collision can be calculated. No additional sensors are required, which means low cost and high reliability of the robot. In this paper, based on the proposed method, the algorithm was developed and employed into a 5-axis educational robot controller. Experimental results confirm the effectiveness of this indirect method.