Industrial robot collision detection method

An industrial robot, collision detection technology, applied in manipulators, manufacturing tools, etc., can solve problems such as false alarms, different responses of servo systems, and reduce collision detection sensitivity, and achieve the effect of simple and effective methods and improved sensitivity.

Active Publication Date: 2019-11-22
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

This invention delays the predicted joint torque by N cycles, but it does not explain what standards and methods are used to calculate the delay cycle. It is only based on experimental analysis, which is very general and inaccurate. At the same time, the robot has different postures under different working conditions. Under load, the response of the servo system is different, so the predicted torque delay time of each joint is not necessarily the same
Inaccurate delay processing will cause errors in torque difference, increase the collision detection threshold, reduce the sensitivity of collision detection, and easily cause false alarms

Method used

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Embodiment Construction

[0033] figure 1 It is a principle diagram of the industrial robot collision detection method of the present invention. The present invention takes the first joint of the industrial machine as the experimental object, and applies the collision detection algorithm of the present invention. Include the following steps:

[0034] Step 1: First obtain the actual joint torque M in real time through servo drive real .

[0035] Step 2: Filter the actual joint torque collected in step 1 to remove the influence of noise, and obtain the actual denoised joint torque filt(M real ).

[0036] Step 3: Use the robot dynamics model to calculate the joint torque and obtain the predicted joint torque M.

[0037] Step 4: Calculate the delay time t of the predicted torque relative to the actual denoised joint torque d , and correct the predicted moment.

[0038] figure 2 is the specific step diagram for calculating the predicted torque delay time, and calculates the predicted torque delay ti...

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Abstract

The invention discloses an industrial robot collision detection method. The method comprises the steps that the collision detection method based on the moment difference is adopted, the prediction torque of each joint is predicted in real time in the operation process of a robot, and the difference value between the prediction torque and the actual noise reduction moment is calculated. According to the method, the hysteresis time of the actual noise reduction moment of each joint relative to the predicted moment is accurately calculated by applying a method for calculating correlation values of the predicted torque and the actual noise reduction moment, so that the predication moment of each joint is subjected to delay treatment, so that the error of the moment difference of the predication moment and the actual noise reduction moment is smaller, the collision threshold value is reduced, and the sensitivity of collision detection is improved.

Description

technical field [0001] The invention relates to a detection method for an industrial robot, in particular to a method for collision detection of an industrial robot. Background technique [0002] Industrial robots may collide with external objects or people for some reason during operation, resulting in damage to the body and injury to personnel. Therefore, collision detection is very important for the safety of robots. Common collision detection can be mainly divided into two categories, collision detection based on sensors such as force sense and smart skin, which can improve detection sensitivity, but greatly increases the cost; the other is sensorless collision based on dynamic model Detection, this method can reduce the cost, but the sensitivity of collision detection is not high due to modeling errors and other reasons. [0003] Chinese patent CN102426391A discloses a method to measure whether a robot collides during operation by calculating a collision scalar. Two v...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/00B25J19/0095
Inventor 张冶邵浩然王杰高
Owner NANJING ESTUN ROBOTICS CO LTD
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