Real-time collision and overspeed detection system for collaborative robot using joint-wise current-based torque control

Abstract

An embodiment relates to a real-time collision and overspeed detection system for a collaborative robot. More specifically, the real-time collision and overspeed detection system for a collaborative robot according to one embodiment may include: a collaborative robot including a plurality of joint portions, each provided with a motor; a current sensor configured to acquire current data supplied to the motor; an encoder configured to acquire rotation data of the plurality of joint portions; and a control unit configured to detect an abnormal state of the collaborative robot based on the current data and the rotation data.

Dependencies are inferred from the claim text.