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

A collision detection and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to distinguish the type of collision, insufficient release of collision energy, and inability to adapt to changes in load, etc., to ensure work efficiency, eliminate collision effect

Inactive Publication Date: 2018-09-28
上海禾野智能科技有限公司
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  • Abstract
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  • Application Information

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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 d

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

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[0070] The embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different examples, which do not depart from the scope of the present invention, and the descriptions and illustrations therein are essentially used for description, rather than limiting the present invention.

[0071] The embodiment of the present invention provides a robot collision detection system. figure 1 Is a schematic structural diagram of a robot collision detection system according to an embodiment of the present invention, such as figure 1 As shown, the robot collision detection system is suitable for a robot 10, the robot 10 includes a number of joints, and each joint position is provided with a motor, and the collision detection system includes a motion instruction module 100 for motion control of the robot; The dynamics module 200, according to the...

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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

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Claims

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Application Information

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Owner 上海禾野智能科技有限公司
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