Method for determining whether there is collision during robot operation

Abstract

The invention provides a method for determining whether there is a collision during robot operation. A collision scalar is calculated and is used to measure whether there is a collision during real-time operation of a robot. The detection method relates to two variables, wherein one variable is a position error of the robot on the closed-loop operation condition and the other variable is a value of a current flowing through a motor during the operation process of the robot. A position error of a current locus and a current value that is obtained by real-time measurement are used for combination to obtain a collision scalar; the collision scalar and a collision threshold that has been set are compared, so that it can be detected whether there is a collision during the operation of the robot. According to the invention, the method can be realized only by installing a current sensor on a motor and there is no need to change a mechanical design of an original robot; and moreover, the method for measuring a collision is simple and practical; the calculated amount is low; and the method has a good application prospect.

Description

technical field [0001] The invention relates to the field of collision detection, in particular to a method for judging whether a collision occurs during robot operation. Background technique [0002] In today's rapidly developing society, whether it is an industrial robot or a service robot, collision detection is very important. It not only protects human safety, but also protects the safety of robots. The current commonly used collision detection methods are mainly detected by vision or torque sensors. [0003] For visual detection, according to the paper "Image-Based Fast Collision Detection Algorithm", this method requires a lot of calculations due to visual processing, and the efficiency of the algorithm greatly depends on the representation method of the object model and the complexity of the scene where the object is located At the same time, since the collision detection in the object space is only performed in the object geometric space, the huge amount of calcula...

AI Technical Summary

Problems solved by technology

This method is used to plan the collision trajectory of the robot, and judge whether a collision occurs by detecting whether the object to be collided moves. This method needs to provide a non-interference environment, that is to say, it cannot judge collisions in an unknown environment.

Images