SBAA577 March   2023 TMAG5170 , TMAG5273


  1.   Abstract
  2.   Trademarks
  3. 1Introduction
  4. 2Traditional Way of Collision Detection in Vacuum Robot
  5. 3Different Types of Hall-Effect Sensors
  6. 4Using 3D Hall Sensor for Detecting Collision Angle in Vacuum Robot
  7. 5Analysis of Error Sources
  8. 6Functional Demo Test


In most instances, Vacuum robots detect collisions by switch signal. Switch is not only high-cost due to harsh working environment, but also big collision noise, and direction of the collision can only be given roughly by switch installation direction. This document presents and validates a solution for detecting collisions by 3D linear hall sensor, which is not only inexpensive, but also low noise by using flexible connections, and achieve for relatively accurate collision angle values.