Mechanical arm collision detection and response method based on six-dimensional force sensor

Abstract

The invention discloses a mechanical arm collision detection and response method based on a six-dimensional force sensor. The six-dimensional force sensor is arranged between a flange at the tail end of a mechanical arm and a load, and the measurement data of the sensor are continuously acquired according to set sampling frequency; a control system of the mechanical arm obtains the force (see the specification for the symbol) and moment (see the specification for the symbol) on the load of the mechanical arm under external action through gravity compensation of the load; collision detection is conducted according to a preset force constant threshold value Fs and a preset moment constant threshold value Ms when the mechanical arm drives the load to make translation movement or rotation movement, and corresponding motions are controlled according to the relative directions of the preset linear velocity / angular velocity of the mechanical arm and external force / moment. By adopting the six-dimensional force sensor for collision detection, detection precision is high, and respond speed is high; by eliminating the influences of load gravity and load posture, sensitive collision detection can still be conducted on heavy loads; motions making collision worse can be stopped instantly once collision occurs, motions in the opposite directions are allowed, and the method is reasonable and practical.

Description

technical field [0001] The invention belongs to the technical field of mechanical arm control, and in particular relates to a method for collision detection and response using a six-dimensional force sensor installed at the end of a mechanical arm. Background technique [0002] The robotic arm is an automatic control device that mimics the functions of the human arm and can complete various tasks. It is connected by multiple joints and can receive instructions and accurately locate points in three-dimensional space or two-dimensional planes for operations. The mechanical arm has a large load-bearing capacity and good rigidity. It moves according to the received instructions, and usually does not have the ability to sensitively detect and respond to external collisions. In the existing robotic arm products, the joint motor current is usually used to detect the collision between the robotic arm and the outside world. When the current value is higher than the set threshold, the...

AI Technical Summary

Problems solved by technology

[0003] In the application of precision parts installation using the robotic arm, it is hoped that the robotic arm can accurately transport the object to be installed to the specified pose without collision. Once a collision occurs, if it cannot be detected and responded effectively, the assembled product will be damaged. bring damage

The motor current detection function of the robot arm product can protect the motor and structure of the robot arm body from damage, but its sensitivity is not enough to ensure the safety of the product being operated. When the current protection operates, the force generated at the end of the robot arm has already Enough to cause damage to the product

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