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Anticollision Arm | 18 Mar 2017 | |

Anticollision Arm

I am wondering, how I can have/realize an anti-collision logic related to an axe when it travels from one point to another and hit and obstacle.

Any suggestions? I am trying to control the torque (current), but at now it is not so precise due to continuous acc/dec of arm.

Thanks for suggestins.

Comments & Answers

Joerg Muslewski | Mon, 03/20/2017 - 10:17
Maybe you can add an external sensor in order to measure the force. If the axis is blocked by an obstacle the force should be exceeded the limits. 
Or you can measure the current (torque) of the motor depending on position / velocity and save the values as a reference curve.
While axis is moving you can compare current values with saved reference values and if the limits are exceeded...

Dome | Wed, 03/22/2017 - 22:29
Thanks Joerg. I was thinking in something like your second option.... I will have to arrange something like that for my 4 axis machine.
Hope to make something productive.

Any other suggestion will be welcome...

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