Method and system for preventing collision of robot based on current method
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A current method and robot technology, applied in the field of robots, can solve problems such as damage to life and property safety, and achieve the effects of avoiding loss of life and property, improving judgment speed, and realizing automatic monitoring.
Active Publication Date: 2018-03-09
宝鸡市敏捷精密机床有限公司
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Once the robot collides, it may seriously damage the safety of life and property
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Embodiment 1
[0041] The present invention discloses a robot anti-collision method based on the current method, such as figure 1 shown, including the following steps:
[0042] The controller obtains the working current value of each drive motor;
[0043] The controller respectively compares the working current value of each driving motor with the corresponding standard current value-position correspondence, so as to obtain each current comparison result;
[0044] The controller judges whether each part of the robot collides according to each current comparison result.
[0045] The principle of the above method is: the robot includes multiple parts such as base, waist, arm, wrist, hand and walking part. These parts are also called actuators, and multiple motors are set to drive these actuators respectively. Therefore, a The robot is equipped with multiple drive motors, such as figure 2 As shown, for example, the first motor used to drive the arm, the second motor used to drive the wrist,...
Embodiment 2
[0083] A robot anti-collision system based on the current method disclosed by the present invention, such as figure 2 As shown, it includes: a plurality of driving motors, the plurality of driving motors are respectively connected to drivers, and the drivers are connected to controllers;
[0084] The controller is used to obtain the operating current value of each driving motor, and then compare the operating current value of each driving motor with the corresponding standard current value-position curve, so as to obtain each current comparison result, and then, according to each Compare the results of the current to judge whether there is a collision between the various parts of the robot.
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Abstract
The invention discloses a method and a system for preventing collision of a robot based on a current method. The method comprises the following steps: acquiring the working current value of a drivingmotor, and comparing the working current value with a corresponding standard current value-position curve, thus obtaining a comparison result of each current; judging whether each part of the robot isin collision or not according to the comparison result of each current. The system comprises a current module, a comparison module and a judgment module, wherein the current module is used for acquiring the working current value of the driving motor; the comparison module is used for comparing the working current value with the standard current value; the judgment module is used for judging whether the robot is in fault or not. According to the method and the system, disclosed by the invention, whether corresponding parts of the robot are in collision or not can be quickly judged through acquiring the working current value of the driving motor, and measures can be taken in time once the robot is in collision, so that automatic monitoring on the robot can be realized, and the safety of life and property can be ensured; the method and the system can be widely applied to the technical field of robots.
Description
technical field [0001] The invention relates to the field of robots, in particular to a robot anti-collision method and system based on the current method. Background technique [0002] With the acceleration of Made in China 2025, there are more and more applications of robots in all walks of life, and there has been a blowout growth. At the same time, safety accidents in the use of robots also occur from time to time. This is because robots usually include a base , waist, arm, wrist, hand and walking parts and other actuators. In order to ensure the flexibility of the robot, multiple motors are generally set up to drive these actuators separately, so that these actuators can move freely. Each actuator The independent movement of the robot constitutes the overall action of the robot and realizes the rich functions of the robot. However, due to the large number of robot actuators, the probability of collisions between robots and between various parts inside the robot increase...
Claims
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Application Information
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