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Flexible obstacle avoidance method and system of mechanical arm, and terminal equipment

A robotic arm and flexible technology, applied in the field of robotic arms, can solve problems such as damage, deformation of the robotic arm, and increase the maintenance cost of the robotic arm, so as to reduce the failure rate and protect the integrity.

Active Publication Date: 2018-06-15
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiments of the present invention provide a flexible obstacle avoidance method, system, and terminal equipment for a robotic arm to solve the problem that the robotic arm is prone to direct mechanical collisions with other objects during operation in the prior art. It can lead to severe deformation or damage of the robotic arm, making it impossible to continue the operation, reducing the efficiency of industrial production and increasing the maintenance cost of the robotic arm

Method used

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  • Flexible obstacle avoidance method and system of mechanical arm, and terminal equipment
  • Flexible obstacle avoidance method and system of mechanical arm, and terminal equipment
  • Flexible obstacle avoidance method and system of mechanical arm, and terminal equipment

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Embodiment 1

[0032] like figure 1 As shown, this embodiment provides a flexible obstacle avoidance method for a robotic arm, where the robotic arm includes several joints; wherein, the number of the joints is determined by the specific structural classification or work nature classification of the robotic arm. The method can be applied to terminal equipment such as robots and robotic arms. The flexible obstacle avoidance method for the robotic arm provided in this embodiment includes:

[0033] S101. Detect the information of the joint.

[0034] S102. Determine whether a sudden change occurs in the motion state of the robotic arm.

[0035] In a specific application, the sudden change in the motion state of the manipulator refers to a situation in which the magnitude of torque, the intensity of the current signal or the magnitude of the pressure detected by the current manipulator suddenly increases or decreases suddenly in a short period of time.

[0036] S103. When a sudden change occur...

Embodiment 2

[0049] like figure 2 As shown, this embodiment is a further refinement of step S101 in the first embodiment. In this embodiment, step S101 includes:

[0050] S1011. Detect the torque of the joint.

[0051]In a specific application, the torque of the manipulator refers to the torque that rotates the mechanical element, which is called the torque of rotation, or torque for short. Mechanical components will produce a certain degree of torsional deformation under the action of torque, so torque is sometimes called torque. Torque is the basic load form of various working machinery drive shafts, and is closely related to factors such as working capacity, energy consumption, efficiency, operating life and safety performance of power machinery. The strength design of the working parts of the system and the selection of the prime mover capacity are of great significance. In addition, the relationship between torque and power T=9549P / n or T=P / Ω (Ω is the angular velocity, in rad / s)...

Embodiment 3

[0058] like image 3 As shown, this embodiment is a further refinement of step S103 in the first embodiment. In this embodiment, step S103 further includes:

[0059] S1031. Determine whether the increment of the torque magnitude, the variable of the electrical signal strength and the increment of the pressure magnitude exceed the corresponding torque increment threshold, signal strength variable threshold and pressure increment threshold.

[0060] In specific applications, the torque increment threshold, signal strength variable threshold and pressure increment threshold can be set according to actual needs. The torque increment threshold refers to the condition that the mechanical components of the manipulator are not damaged or deformed. The maximum torque that the mechanical element can withstand. The signal strength variable threshold refers to the magnitude of the maximum or minimum current signal strength that the mechanical element of the robotic arm can withstand und...

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Abstract

The invention relates to the technical field of control of mechanical arms, and provides a flexible obstacle avoidance method and system of a mechanical arm, and terminal equipment. The method comprises the steps of detecting the information of a joint, judging whether the moving state of the mechanical arm is changed suddenly; judging the amplitude of sudden change exceeds the corresponding sudden change threshold value or not when the moving state of the mechanical arm is changed suddenly; and controlling the mechanical arm to avoid an obstacle according to the amplitude of sudden change when the amplitude of sudden change exceeds the corresponding sudden change threshold value, specifically, the intelligent obstacle avoidance comprises the step of reducing the joint rigidity and / or changing the original moving state of the mechanical arm. The method can effectively avoid direct mechanical collision between the mechanical arm and the obstacle, ensure integrity of the mechanical arm and reduce the failure rate of the mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of robotic arms, and in particular relates to a flexible obstacle avoidance method, system and terminal equipment for a robotic arm. Background technique [0002] With the advancement of science and technology, various intelligent mechanical arms, industrial robots and other mechanical structures have been widely used in the industrial field, which greatly improves the efficiency of industrial production and saves labor costs. [0003] However, the existing robotic arms are prone to direct mechanical collision with other objects during the operation. In severe cases, the robotic arms may be severely deformed or damaged, making it impossible to continue the operation, reducing the work efficiency of industrial production and increasing the mechanical power. Arm maintenance costs. SUMMARY OF THE INVENTION [0004] In view of this, the embodiments of the present invention provide a flexible obstacle avoidanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1676
Inventor 解俊杰郎需林刘培超刘主福
Owner SHENZHEN YUEJIANG TECH CO LTD
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