Collision detection method of closed-loop mechanical arm system based on momentum observer

A technology for collision detection and robotic arms, applied in the field of robotics, to achieve the effects of high flexibility, avoidance of high-frequency noise, and low time delay

Active Publication Date: 2020-01-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

This kind of solution that only arranges sensors at the joints has the characteristics of simple assembly and high reliability. However, for the closed-loop manipulator system, there is currently no method that can detect external collision information by only arranging sensors at the joints.

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  • Collision detection method of closed-loop mechanical arm system based on momentum observer
  • Collision detection method of closed-loop mechanical arm system based on momentum observer
  • Collision detection method of closed-loop mechanical arm system based on momentum observer

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Embodiment Construction

[0037] In order to better illustrate the purpose and advantages of the present invention, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0038] figure 1 It is a schematic diagram of the momentum observer structure and the collision detection method disclosed in the present invention. The structure of the closed-loop manipulator system described in this embodiment is shown in figure 2 , the upper platform is fixed in space, the lower platform is a Bricard mechanism, which is composed of 6 arms, (number 12A, 12B, 22A, 22B, 32A, 32B) the angle between adjacent joints is 30deg; 3 RRS branches are connected, containing 6 arms (11, 12, 21, 22, 31, 32). All arms in the closed-loop robotic arm system are homogeneous straight rods with a length of 0.5 m and a mass of 0.6 kg.

[0039] A closed-loop manipulator system collision detection method based on a momentum observer disclos...

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Abstract

The invention relates to a collision detection method of a closed-loop mechanical arm system, in particular to a collision detection method of a closed-loop mechanical arm system based on a momentum observer, and belongs to the technical field of robots. According to the method, a motion sensor is arranged at the joint of the closed-loop mechanical arm system to measure joint motion information, asix-dimensional force or a moment sensor is arranged to measure binding force and binding moment at any at least one joint in each closed-loop, and collision identification and real-time detection ofcollision information of the closed-loop mechanical arm system are realized based on the momentum observer. The sensors required by the method are all arranged at joints, the assembly is simple, thereliability and the flexibility are high; according to the method, joint angular acceleration information or inversion of a high-dimensional time-varying mass characteristic matrix is not needed, thecollision information observation result is high in precision and the time delay is low; according to the method, the observer performance and the detection sensitivity can be adjusted by changing theobserver gain and the collision judgment threshold.

Description

technical field [0001] The invention relates to a collision detection method of a closed-loop manipulator system, in particular to a collision detection method of a closed-loop manipulator system based on a momentum observer, and belongs to the technical field of robots. Background technique [0002] With the development of robot technology, the force control of manipulators has been more and more developed and applied in the fields of industrial robots, collaborative robots, and spacecraft on-orbit service and operation. To realize the force control of the manipulator, it is essential to obtain the contact and collision information in the system in real time. For this problem, the existing solutions only involve the tree-shaped manipulator system, and there is no closed-loop constraint in its structure, so the occurrence of external collisions can be identified and the collision introduced into each joint can be solved only by measuring the information through the sensors i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/04
CPCB25J9/161B25J9/1676B25J19/04
Inventor 刘菲张景瑞胡权张尧李晓辉刘维惠张军
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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