In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The proposed method has the following advantages. First, fast computation is achieved by proper preprocessing of robot meshes. Second, multi-contact can be identified with the aid of the base F/T sensor, while this is challenging when the robot is equipped with only JTSs. The proposed method is a modification of the standard particle filter to cope with mesh preprocessing and with available sensor data. In simulation validation, for a 7 degree-of-freedom robot, the algorithm runs at 2200Hz with 99.96% success rate for the single-contact case. In terms of the run-time, the proposed method was >=3.5X faster compared to the existing methods. Dual and triple contacts are also reported in the manuscript.

翻译：本文提出了一种同步估计接触点位置与接触力的算法。我们考虑配备本体觉传感器的协作机器人，具体包括关节力矩传感器（JTSs）和基座力/力矩（F/T）传感器。该方法具有以下优势：首先，通过对机器人网格进行适当预处理实现快速计算；其次，借助基座F/T传感器可识别多点接触，而仅配备JTSs的情况下难以实现此功能。该方法是标准粒子滤波算法的改进版本，旨在适配网格预处理与可用传感器数据。仿真验证表明：对于七自由度机器人，单点接触情况下算法运行频率达2200Hz，成功率99.96%；运行速度较现有方法提升≥3.5倍。文中还报告了双点及三点接触的测试结果。