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Controlling method, device and system of robot

A technology of robots and mechanical arms, applied in the field of control methods, devices and systems of robots, can solve problems such as damage to robots and injuries to operators, and achieve the effect of avoiding injuries

Pending Publication Date: 2018-07-06
遨博(北京)智能科技股份有限公司
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  • Claims
  • Application Information

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Problems solved by technology

This collision is likely to injure the operator, and is also likely to damage the robot itself

Method used

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  • Controlling method, device and system of robot
  • Controlling method, device and system of robot
  • Controlling method, device and system of robot

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Embodiment Construction

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0048] The inventor found through research that usually industrial robots and operators will work together to complete work, for example, in industries such as medicine and logistics. During the process of cooperation between the robot and the operator, since the two are in the same space, the robot is likely to collide with the operator. This collision is likely ...

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Abstract

The invention discloses a controlling method, device and system of a robot. The controlling method comprises the following steps: acquiring an actual current value obtained by detecting a target motorby a current sensor, and calculating an actual output torque of the target motor according to the actual current value; acquiring positions, angle speed and angular acceleration of target joints andcalculating theoretical output torques of the target motor according to the positions, the angle speed and the angular acceleration of the target joints, wherein the target joints are mechanical arm joints, controlled by the target motor, of the robot; calculating a difference value between the actual output torque and the theoretical output torques; and controlling the robot to execute a safe andprotective action if the difference value is greater than a torque difference threshold. According to the embodiment of the invention, under a situation of ensuring that the robot is collided, the robot can actively trigger the safe and protective action, so that harm to operators caused by collision can be avoided; and meanwhile, damage to the robot caused by collision is also avoided.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a control method, device and system for a robot. Background technique [0002] With the development of robot technology, robots have been able to be applied to many different fields. In many fields with operational requirements such as high flexibility and flexibility, it is difficult for robots to meet such operational requirements at present, so robots usually need to cooperate with operators in the same space. For example, in industries such as medicine, video, and logistics, industrial robots and operators usually work together to complete work. During the process of cooperation between the robot and the operator, since the two are in the same space, the robot is likely to collide with the operator. This collision is likely to injure the operator, and it is also likely to damage the robot itself. Contents of the invention [0003] The technical problem to be solve...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J19/00
CPCB25J13/00B25J19/00B25J19/0075
Inventor 李煜王钰
Owner 遨博(北京)智能科技股份有限公司
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