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Industrial robot collision detection method based on energy deviation observer

An industrial robot and energy deviation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as increasing the cost of robots and increasing the complexity of control systems, and achieve the effects of ensuring safety, reducing complexity, and reducing costs

Active Publication Date: 2019-10-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] For the method of installing sensors to detect the collision between the robot and the external environment, without exception, the complexity of the control system is increased, and the cost of the robot is increased, and the installation of some sensors must be considered at the beginning of the design of the robot.

Method used

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  • Industrial robot collision detection method based on energy deviation observer
  • Industrial robot collision detection method based on energy deviation observer
  • Industrial robot collision detection method based on energy deviation observer

Examples

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Embodiment 1

[0103] S1. In this embodiment, the ER30 model industrial robot of Estun Robot Engineering Co., Ltd. is used for detailed description. First, combine the specific DH parameters of the ER30 industrial robot to calculate the energy of each joint of the robot:

[0104]

[0105] The DH parameters of the ER30 industrial robot are as follows:

[0106]

[0107]

[0108] S2. Design an energy deviation observer.

[0109] First, define the collision detection operator σ at the joint i of the ER30 industrial robot Ei :

[0110]

[0111] Where: τ ei is the collision torque caused by the collision at joint i; σ Ei for observation value; K E1 >0,K E2 >0 is the gain; τ tol is the output torque output by the motor at joint i of the robot after the collision occurs.

[0112] Secondly, design the collision detection algorithm adjustment function of ER30 industrial robot as:

[0113]

[0114] Using the adjustment function as the feed-forward adjustment of the ER30 indust...

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Abstract

The invention provides an industrial robot collision detection method based on an energy deviation observer. The total energy of joints in the running process of an industrial robot is calculated, collision detection operators and adjustment functions of the joints are set, and the energy deviation observer is obtained; and the collision torque and the collision force of the joints are solved through the energy deviation observer, and whether collisions happen to the industrial robot or not is judged by comparing the collision torque with the torque threshold value or comparing the collision force with the collision force threshold value. In the method, without adding extra sensors, collisions of the industrial robot and the outside can be detected in real time, the industrial robot can bedriven to make fast reactions, possibly-caused damage is avoided, and meanwhile fastness and accuracy of a system to collision force detection are improved through feedforward compensation.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to an industrial robot collision detection method based on an energy deviation observer. Background technique [0002] Industrial robots are multi-degree-of-freedom manipulators or machine devices for the industrial field. Industrial robots are widely used in industrial production such as welding, grinding and polishing, spraying, handling, and assembly. In recent years, with the increasing application of industrial robots, especially the increasing application of multi-robot collaboration and human-machine collaboration, people have higher and higher requirements for the safety of robots. The initially developed industrial robots work according to the pre-programmed trajectory. In order to prevent the robot from colliding with the external environment during the production process, it is often equipped with a protective fence to isolate the robot so that it can work in a...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1612B25J9/1633
Inventor 张得礼陆济民王珉陈文亮金霞鲍益东逯轩王建政王昊王耀武
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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