Collision detection method for sensor-less type cooperative robot

A collision detection and robot technology, applied in instruments, manipulators, program-controlled manipulators, etc., can solve problems such as changing the robot installation structure and increasing the cost of the robot, achieving the effect of flexible and convenient setting and ensuring the safety of human-robot collaboration.

Inactive Publication Date: 2018-05-08
TIANJIN UNIV
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Problems solved by technology

A collision scalar is synthesized by the position error of the current trajectory and the real-time measured current value, and then compared with the preset collision threshold to achieve collision detection, but this method needs to install a current sensor on the motor, which may require changing the installation structure of the robot , but also need to increase the robot cost

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  • Collision detection method for sensor-less type cooperative robot
  • Collision detection method for sensor-less type cooperative robot
  • Collision detection method for sensor-less type cooperative robot

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Embodiment Construction

[0030] In order to make the technical solution of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific examples described here are only used to explain the present invention, and are not limited to this example.

[0031] Such as figure 1 The shown sensorless collaborative robot collision detection method of the present invention comprises the following steps:

[0032] Step 1. Establish the dynamic model of the robot using the Lagrangian equation. The expression of the model is as follows:

[0033]

[0034] τ e =τ c +τ f (2)

[0035] In formula (1): q, are the joint angles, angular velocities, and angular accelerations of the revolving joints to be measured by the robot, respectively; M(q) is the matrix of inertial term coefficients of the robot, which is an n×n matrix, and n represents the number of revolving joints of the robot; Repre...

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Abstract

The invention discloses a collision detection method for a sensor-less type cooperative robot. Based on a method for constructing a joint external force moment observer of cooperative robot through generalized momentum, the real time observation of the moment of the external impact force and friction force applied to the joint is achieved. A joint friction moment model is solved through an observation value of the normal operation of a robot, so that the observation value is affected only by the impact force. The robot is considered to collide with others when the observation value exceeds thepreset threshold, and the robot stops running at once, so that the injury towards human in the process of human-machine cooperation is avoided. Without the need for installing an additional sensor outside the robot, and a joint driving moment, a joint position and a joint angle of the robot is got through a robot control system, so that the collision detection function is realized, the complexityof increasing robot structure and the increase of manufacturing cost are avoided. The sensitivity of the collision detection is changed by setting the threshold. Therefore, the safety of the human-machine cooperation is guaranteed.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a sensorless collaborative robot collision detection method Background technique [0002] Different from traditional industrial robots, people and robots need to be separated by fences. The application of collaborative robots requires close human-machine cooperation. During the interaction and cooperation between humans and robots, contact collisions will inevitably occur. If this situation is not detected And proper handling will cause harm to people, and the safety of human-machine cooperation cannot be guaranteed. [0003] Common collision detection methods are mainly divided into sensor collision detection and sensorless collision detection. The methods of installing sensors mainly include installing torque sensors at joints and wrapping a layer of sensitive "skin" sensors on the robot body. Installing sensors will not only Increasing the complexity of the robot struct...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666G05B2219/39082
Inventor 肖聚亮田志伟王国栋洪鹰段文斌刘宏业张智涛
Owner TIANJIN UNIV
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