Robot collision detecting system and method, storage medium and operation system

Abstract

The invention discloses a robot collision detecting system and method, a storage medium and an operation system. The collision detecting system comprises a motion instruction module, a dynamic module,a state feedback module and a collision predicating module, wherein the motion instruction module is used for performing motion control on a robot; the dynamic module is used for performing dynamic modeling and system identifying on the robot according to characteristics of the robot, and solving a dynamic equation; the state feedback module is used for obtaining position data, speed data and force moment data of each joint of the robot; and the collision predicating module is used for predicating collision external force, a force acting point and a collision type according to the robot dynamic equation, and the position data, the speed data and the force moment data of each joint of the robot. Based on collision detection of current ring feedback, the robot collision detecting system canreduce complexity and cost of a robot structure, can detect whether a user collides or not when the robot works, and safety of the user when the robot and the user are effectively guaranteed to be cooperatively work.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a robot collision detection system and method, a storage medium, and an operating system. Background technique [0002] At present, robots need to cooperate with users to complete many tasks, and users will often enter the working range of robots. In such tasks, the robot needs to be able to detect whether it has collided with the user, and adopt an appropriate strategy to eliminate the collision to ensure the safety of the user. [0003] After searching, it is found that the Chinese patent document with the publication number CN103192413A discloses a sensorless robot collision detection protection device and method, which can detect whether the robot collides with the user without force sensors. When a collision occurs, the controller stops the robot to eliminate the collision, but this device has some shortcomings: it cannot distinguish the type of collision; ...

AI Technical Summary

Problems solved by technology

When a collision occurs, the controller stops the robot to eliminate the collision, but this device has some shortcomings: it cannot distinguish the type of collision; the energy of the collision is not released quickly enough; it cannot adapt to the change of the load

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