Collision detection method, device, equipment and storage medium for mechanical arms

Abstract

The embodiment of the invention discloses a collision detection method, device, equipment and storage medium for mechanical arms. The method includes the steps that during the repetitive operation of a mechanical arm, if it is detected that the mechanical arm finishes one working cycle, the dynamic threshold used for judging whether or not the mechanical arm is collided is updated; the actual measured value of output torque of a power device used for controlling the mechanical arm to work is obtained, and a theoretical value corresponding to the output torque of the power device is obtained by a dynamical model, wherein at least one parameter relative to the operation of the mechanical arm inside the dynamic model changes with time; the difference value between the actual measured value and the theoretical value is determined, and whether or not the mechanical arm is collided is judged according to the difference value and the updated dynamic threshold. The collision detection method, device, equipment and storage medium for the mechanical arms can prevent the collision detection precision from decreasing with the changes of time, so that the phenomenon of judgment omission and judgment errors can be avoided.

Description

technical field [0001] The present invention relates to the technical field of mechanical arm collision detection, in particular to a mechanical arm collision detection method, device, equipment and storage medium. 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. [0003] In the prior art, during the movement of the manipulator, the torque of the power unit controlling the movement of the manipulator is calculated in real time through the model, and the measured torque value of the power unit is collec...

AI Technical Summary

Problems solved by technology

However, when the above method is used to detect the collision of the robotic arm, the detection accuracy will decrease with time, resulting in missed and misjudged

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