Robot collision detection method and device, storage medium and robot

A technology of collision detection and robotics, applied in the field of robotics, can solve problems such as low accuracy, easy false triggering of collision alarms, and low sensitivity, so as to improve accuracy and sensitivity, avoid false triggering of collision alarms, and improve user experience.

Active Publication Date: 2019-05-10
深圳市越疆科技股份有限公司
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Problems solved by technology

[0005] Embodiments of the present invention provide a robot collision detection method, a detection device, a computer-readable storage medium, and a robo

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  • Robot collision detection method and device, storage medium and robot
  • Robot collision detection method and device, storage medium and robot
  • Robot collision detection method and device, storage medium and robot

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Embodiment Construction

[0049] Embodiments of the present invention provide a robot collision detection method, a detection device, a computer-readable storage medium, and a robot, which are used to solve the problem of low accuracy and low sensitivity of robot collision detection, so that it is easy to trigger a collision alarm by mistake.

[0050] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] seefigure 1 ...

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Abstract

The invention relates to the technical field of robots, in particular to a robot collision detection method and device, a storage medium and a robot. The method comprises the steps of acquiring the first motor torque, the first angular displacement, the first angular velocity and the first angular acceleration of a robot joint; updating kinetic parameters of the robot in a preset updating mode andcalculating the theoretical torque of the joint according to the updated kinetic parameters, the first angular displacement, the first angular velocity and the first angular acceleration; obtaining the first external torque of the joint according to the first motor torque and the theoretical torque; inputting the first motor torque, the first angular displacement, the first angular velocity and the first angular acceleration into a preset observer model to obtain the second external torque of the joint; judging whether the first external torque is greater than a first preset threshold value or not and judging whether the second external torque is greater than a second preset threshold value or not; and determining that collision occurs to the robot if the first external torque is greaterthan the first preset threshold value and the second external torque is greater than the second preset threshold value.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot collision detection method, a detection device, a computer-readable storage medium and a robot. Background technique [0002] During the application process of the robot, it often collides with external objects due to various reasons, which may easily cause damage to the robot or the object being hit. Therefore, in order to avoid collisions between the robot and external objects, it is necessary to perform collision detection on the robot. [0003] At present, the collision detection methods of robots mainly include the collision detection method based on the motor current, or the collision detection method based on the inverse dynamics model, or the collision detection method based on the momentum observer model, etc., although these detection methods can realize the Collision detection, these detection methods all have the problems of low detection accuracy, low detectio...

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Application Information

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IPC IPC(8): B25J9/16
Inventor 黄睿刘培超朗需林林炯辉林俊凯
Owner 深圳市越疆科技股份有限公司
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