Industrial robot collaborative interaction method and system

An industrial robot and interaction method technology, applied in the field of industrial robot collaborative interaction method and system, to achieve the effect of low cost

Active Publication Date: 2018-08-28
ROKAE SHANDONG INTELLIGENT TECH CO LTD
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Problems solved by technology

There is no robot that can provide collaborat

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  • Industrial robot collaborative interaction method and system
  • Industrial robot collaborative interaction method and system
  • Industrial robot collaborative interaction method and system

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Embodiment Construction

[0039]Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0040] The present invention proposes an industrial robot collaborative interaction method and system, which is composed of a universal serial robot and a six-dimensional force-torque sensor located between the robot base and the fixed surface, which can realize the human-robot-environment based on the base force-torque sensor Interactive external force measurement, estimation and calculation, proposed industrial robot cooperative interaction modes, sub-modes and robot interaction control methods in each mode.

[0041] Such as fi...

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Abstract

The invention provides an industrial robot collaborative interaction method and system. The industrial robot collaborative interaction method comprises the following steps that an industrial robot kinematics and dynamics model is established, and a base force-torque measuring coordinate system is determined; length parameters and mass distribution characteristic parameters of connecting rods of anindustrial robot are bound; joint motion parameters of the industrial robot are measured, and filtering processing is carried out; according to the joint motion parameters of the robot, motion parameters of all the connecting rods of the industrial robot are solved; according to the motion parameters of all the connecting rods of the industrial robot and the mass characteristic parameters of theconnecting rods of the industrial robot, the free motion reaction couple of all the connecting rods are calculated, and the reaction couple which is transmitted to a robot base is solved; the fixed reaction of the base is measured, and filtering processing is carried out; the projection of the interaction external force under the coordinate system of the base is calculated; and the interaction motion of the industrial robot is controlled. The method and the system can be applied to all the robots with series structures, and through three sub modes set in the method, the basic interaction capability requirement in the human-machine cooperation process can be met on the premise of ensuring the human-machine safety.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot collaborative interaction method and system. Background technique [0002] For safety reasons, traditional industrial robots are strictly limited to working environments isolated from humans. With the expansion of industrial robot applications, especially in general application scenarios for small and medium-sized enterprises, robots and humans need to cooperate closely to complete tasks. , requires industrial robots to have the ability to cooperate and interact with humans. There is no robot that can provide collaborative interaction capabilities in the prior art. Contents of the invention [0003] The aim of the present invention is to solve at least one of said technical drawbacks. [0004] For this reason, the object of the present invention is to propose an industrial robot cooperative interaction method. [0005] In order to achieve the ab...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 庹华于文进张雷宋斌袁顺宁
Owner ROKAE SHANDONG INTELLIGENT TECH CO LTD
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