Mechanical arm anti-collision system and method and storage medium

A robotic arm and arm defense technology, applied in the field of control, can solve the problems of robotic arm obstacle collision, personnel injury, mechanical arm or obstacle damage, etc., and achieve the effects of low cost, improved accuracy, and convenient integration

Active Publication Date: 2018-12-11
SIEMENS CHINA
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0003] However, in practical applications, sometimes due to reasons such as the operator not paying attention to the movement of the robotic arm or the robotic arm being misoperated, the robotic arm collides with personnel or other obstacles, which may cause injury to personnel on the one hand. On the other hand, it may also cause damage to the robot arm or obstacles

Method used

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  • Mechanical arm anti-collision system and method and storage medium
  • Mechanical arm anti-collision system and method and storage medium
  • Mechanical arm anti-collision system and method and storage medium

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Embodiment Construction

[0040] In the embodiment of the present invention, considering that the dynamic model of the mechanical arm can be expressed as the following formula (1):

[0041]

[0042] where M(q)∈R n×n is the sub-arm mass matrix of the manipulator, is the centrifugal force and Coriolis force matrix, G(q)∈R n is the gravity vector, is the friction force vector, τ is the joint moment of the manipulator, are position, velocity and acceleration, respectively.

[0043] When the mechanical arm collides with an obstacle, an unknown moment will be applied to the end of the mechanical arm, and the right side of the above formula (1) will become τ+τ ext , correspondingly, the speed and acceleration on the left side of the above formula (1) will change greatly immediately. Therefore, in the embodiment of the present invention, the change of the speed and acceleration can be used to detect whether there is a collision.

[0044] In addition, considering that in practical applications, ther...

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Abstract

The invention discloses a mechanical arm anti-collision system and method and a storage medium. The method comprises the steps that speed and accelerated speed information of the tail end of a mechanical arm is obtained through measurement of an MEMS sensor installed at the tail end of the mechanical arm, the measured speed and accelerated speed information is compared with standard speed and accelerated speed information, when a comparison result shows that the deviation exceeds a set threshold value, the problem that vibration is caused by collision or other reasons is determined by analyzing change trends of the speed and the accelerated speed which are measured by the MEMS sensor in the set time period, and protection control is conducted on the mechanical arm when collision occurs. According to the technical scheme, damage to the mechanical arm and obstacles caused by collision can be avoided to the maximum limit, and the cost is low.

Description

technical field [0001] The invention relates to the control field, in particular to a mechanical arm anti-collision system, method and storage medium. Background technique [0002] Robotic arms, also known as automatic arms, manipulators, etc., are automatic operating devices that can imitate certain movement functions of human hands and arms, and are used to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. It is widely used in automatic control fields such as machinery manufacturing, metallurgy, and medical surgery. [0003] However, in practical applications, sometimes due to reasons such as the operator not paying attention to the movement of the robotic arm or the robotic arm being misoperated, the robotic arm collides with personnel or other obstacles, which may cause injury to personnel on the one ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J9/02
CPCB25J9/023B25J9/1676G05B2219/39082
Inventor 黄立明颜世俊
Owner SIEMENS CHINA
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