Industrial robot impact force detection using motor currents

In this paper, the industrial robot motor current measurements are done to detect external force on the robot. Fast Fourier Transforms (FFT) processing of measured current values are done as the supplied voltage is a square wave signal and current is filtered b y the motor inductance only. T he measured current is compared to the measured force on the robot. The developed measurement system is intended for the use in the Human-Robot Collaboration system along with other types of sensing and measuring elements.