US 12,134,196 B2
Method for automatically setting collision sensitivity of collaborative robot
Jong Hoon Park, Namyangju (KR); Kwang Hyun Han, Seongnam (KR); Yun Seo Che, Sejong (KR); and Gu Hee Jeong, Seoul (KR)
Assigned to NEUROMEKA, Seoul (KR)
Appl. No. 17/629,266
Filed by NEUROMEKA, Seoul (KR)
PCT Filed Oct. 30, 2020, PCT No. PCT/KR2020/015019
§ 371(c)(1), (2) Date Jan. 21, 2022,
PCT Pub. No. WO2021/086103, PCT Pub. Date May 6, 2021.
Claims priority of application No. 10-2019-0136722 (KR), filed on Oct. 30, 2019; and application No. 10-2020-0048730 (KR), filed on Oct. 30, 2019.
Prior Publication US 2022/0241969 A1, Aug. 4, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) 13 Claims
OG exemplary drawing
 
1. A method of automatically setting collision sensitivity of a collaborative robot, the method comprising:
applying a current value to an actuator provided in each of joints of the collaborative robot to actuate the collaborative robot;
measuring, based on the current value or using a torque sensor, torque exerted on each of the joints of the collaborative robot during actuation of the collaborative robot, thereby obtaining torque-related data related to the torque; and
calculating a collision threshold value based on the obtained torque-related data,
wherein the calculating of the collision threshold value comprises:
calculating an average value of the obtained torque-related data according to sections;
selecting a maximum value among the average values of the sections; and
calculating the collision threshold value based on the selected maximum value.