Online robot collision detection method and system based on momentum model

A collision detection and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of amplifying the encoder measurement error, difficult to meet the real-time requirements of the system, and consuming large computing resources. Collision detection accuracy and the effect of reducing design difficulty

Inactive Publication Date: 2019-05-10
深圳市大象机器人科技有限公司
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Problems solved by technology

The former is obtained by numerical differential calculation of angular velocity, which will amplify the measurement error of the encoder; the latter calculation process requires a lot of computing resources, which is difficult to meet the real-time requirements of the system

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  • Online robot collision detection method and system based on momentum model
  • Online robot collision detection method and system based on momentum model
  • Online robot collision detection method and system based on momentum model

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Embodiment

[0066] According to an online collision detection method for a robot based on a momentum model described in the present invention, the six-degree-of-freedom mechanical arm is used as the research object for verification, such as figure 1 Joints 1-6 are shown, and the structural parameters of the research object, namely the DH parameters, are as follows:

[0067] Joint number

α(°)

a(mm)

q(°)

d(mm)

1

-π / 2

0

q1

0

2

0

330

q2

0

3

0

320

q3

117

4

-π / 2

0

q4

0

5

π / 2

0

q5

115.5

6

0

0

q6

0

[0068] where α(°) is the link torsion, which represents the angle by which the axis of one joint is rotated about their common normal relative to the axis of the other joint;

[0069] a (mm) is the length of the connecting rod, indicating the common normal length between the axes of the two joints;

[0070] q(°) is the joint rotation angle, which means the common no...

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Abstract

The invention belongs to the field of industrial robots, and particularly relates to an online robot collision detection method and system based on a momentum model. The method comprises the steps that firstly, structure parameters are set, and a dynamics model is established and converted into a robot state space equation; secondly, the angle measuring value and the torque measuring value of eachjoint of a robot at the time t are monitored, and t is larger than or equal to 0; thirdly, the angle measuring value and the joint torque measuring value, obtained in the second step, of each joint are substituted into the robot state space equation in the first step, and the external torque estimation value of each joint of the robot at the time t is obtained; and fourthly, the external torque estimation value of each joint and the corresponding external torque collision threshold value are compared, if the external torque estimation value is larger than or equal to the external torque collision threshold value, it is judged that collisions happen, and if the external torque estimation value is smaller than the external torque collision threshold value, it is judged that collisions do not happen. According to the online robot collision detection method and system based on the momentum model, the collision detecting operand and the calculating time consumption are reduced, and the collision detecting precision is improved.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to an online collision detection method and system for a robot based on a momentum model. Background technique [0002] Due to the characteristics of human-machine cooperation, collaborative robots must have complete safety protection functions. The contact collision protection function is the last link in the protection system, which is very important. [0003] The contact collision detection function usually needs to perceive the external force of the robot in real time. There are two ways to obtain the external force information, one is through multi-dimensional force / torque sensor measurement, and the other is through the robot dynamic model and joint torque measurement in real time. estimate. However, the multi-dimensional force / torque sensor method has high weight and volume costs for small robots, and the cost is not competitive. Currently, external force estima...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/16
Inventor 阳涵疆伍祁林宋君毅
Owner 深圳市大象机器人科技有限公司
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