Truss robot anti-collision detection method and device

Abstract

The invention relates to the field of truss robots and discloses an anti-collision detection method and device for a truss robot. The anti-collision detection method comprises the steps: acquiring a theoretical torque value of a joint shaft by virtue of a kinematic model and a kinetic model of the truss robot, and meanwhile, reading the actual torque value of the joint shaft; calculating the position following error of the joint shaft; establishing an anti-collision discriminant according to the theoretical torque value, the actual torque value and the position following error; and carrying out anti-collision detection according to the discriminant. The erroneous judgment for robot collision is effectively avoided, and the detection precision is improved.

Description

technical field [0001] The invention relates to the field of truss robots, in particular to an anti-collision detection method and device for a truss robot. Background technique [0002] In modern production lines, more and more attention is paid to flexible production. The automation of mechanical equipment is the general trend of the development of manufacturing industry in this century. The robot industry will be a sunny industry. The next century will be the century of extreme development of robot technology. Human beings will be liberated from monotonous and complicated manual labor and engage in more creative work. . Automatic production lines and highly automated processing equipment have become an inevitable trend in future manufacturing plants. Single and ordinary special-purpose processing machine tools are increasingly replaced by universal, standardized machine tools and flexible automated production lines during mass processing. For example, when loading and ...

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Problems solved by technology

[0005] But in the process of realizing the present invention, the inventor found that: the former scheme has the following problems: firstly, it cannot guarantee that the sensor can detect the working space of the entire robot, and secondly, the hardware cost of the robot is also increased.

The latter scheme also has certain disadvantages. First, the moment of the joint axis of the robot is different in different motion states, so it is impossible to select the same appropriate threshold as the judgment standard; second, the algorithm does not have the motion position information of the truss robot. to test

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