Robot balance detection method, device and equipment and robot
A technology of balance detection and robotics, applied in the field of robotics, can solve the problems of small support area, easy fall of bionic robots, high center of gravity, etc., and achieve the effect of avoiding falling
Active Publication Date: 2019-10-15
CLOUDMINDS BEIJING TECH CO LTD
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[0003] At present, compared with other robots, bionic robots have more degrees of freedom, a higher center of gravity, and a relatively small support area on the ground, which makes bionic robots easy to fall during exercise
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[0040] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.
[0041] figure 1 A schematic flowchart of a robot balance detection method provided by an embodiment of the present invention is shown. The method is applied to robots, especially bionic robots. Such as figure 1 As shown, the method includes:
[0042] Step 110, establishing a recursive Newton-Euler equation expressing the relationship between the adjacent links of the robot and the relationships among forces, moments, masses, inertias and acc...
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The embodiment of the invention relates to the technical field of robots, and discloses a robot balance detection method, device and equipment and a robot. The robot balance detection method comprisesthe following steps: establishing a recursive Newton Euler equation for expressing the relationship of adjacent connecting rods of the robot and the relationship among the force, torque, mass, inertia and acceleration of the connecting rods; according to the recursive Newton Euler equation, calculating the force and theoretical moment required to be provided by a base of the robot to the connecting rods connected with the base; calculating the maximum moment which can be provided by the base according to the force of the base on the connecting rods connected with the base, the gravity of thebase and the force arm from the gravity center of the base to the connecting rods connected with the base; and judging whether the robot is unbalanced or not according to the theoretical moment and the maximum moment. In this way, the balance of the robot can be judged in advance, so that the robot is prevented from falling down.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a robot balance detection method, device, equipment and robot. Background technique [0002] With the development of science and technology, robots have been gradually applied to various fields. A bionic robot is an intelligent robot with human external features, most of which have a head, torso and arms. [0003] At present, compared with other robots, bionic robots have more degrees of freedom, a higher center of gravity, and a relatively small support area on the ground, which makes it easy for bionic robots to fall during exercise. Contents of the invention [0004] An object of an embodiment of the present invention is to provide a robot balancing method, device, equipment, and robot, which can predict the balance of the robot, thereby preventing it from falling. [0005] According to an aspect of an embodiment of the present invention, a rob...
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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 徐慎华李连中
Owner CLOUDMINDS BEIJING TECH CO LTD