A robot collision detection method and device based on speed deviation

Abstract

The invention discloses a robot collision detection method and device based on the speed deviation. The robot collision detection device based on the speed deviation are specifically used for carryingout filtering optimization on an ideal calculation speed, and the ideal calculation speed is processed through the hysteresis of the filter; the optimal speed deviation is obtained by subtracting theideal calculation speed from the actual speed; a robot collision detection upper and lower limit threshold value is set; when the optimization speed deviation is detected to exceed a threshold valueto control the robot stops moving or adopts other avoidance algorithms to avoid personal injury caused by collision and mechanical damage of the robot. According to the robot collision detection device, the detection sensitivity is improved, so that the collision detection of the acceleration and deceleration of the robot is avoided; the robot collision detection method is simple and effective, anadditional force sensor does not need to be added, other parameters such as acceleration, current, torque and the like do not need to be detected, and complex robot dynamics operation is not includedin the algorithm; and experimental results show that the robot collision detection method can effectively, sensitively and accurately detect the collision, so that the robot can be controlled to stopmoving immediately so as to avoid damage to people and the robot.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for robot collision detection. Background technique [0002] Robots can replace humans to perform efficient, high-precision repetitive physical labor. When the robot is working, if it collides with the surrounding environment, it may cause damage to the surrounding environment or the robot itself. In some complex and sophisticated tasks, robots and workers are often required to work together. At this time, the safety of the robot is particularly important. Robots need to take necessary safety and anti-collision measures to ensure the safety of humans and robots. When a collision occurs, the robot must be able to detect the collision and adopt a certain control strategy to avoid serious consequences caused by the collision. [0003] At present, some scholars have proposed different collision detection schemes from multiple perspectives. Such as wrapp...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a simple and effective robot collision detection method and device based on speed deviation without adding additional sensors, aiming at the disadvantages of adding additional sensors or complex calculations or low real-time performance in existing robot collision detection schemes

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