Control method for robot based on triaxial angular speed anti-falling protection
A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of inability to protect the motor and gear body, hinder the difficult movements of humanoid robots, and inability to protect the robot, and achieve high accuracy. Effect
Active Publication Date: 2020-05-08
桂林凯歌信息科技有限公司
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AI Technical Summary
Problems solved by technology
[0003] The technical problem to be solved by the present invention is: to provide a robot control method based on three-axis angular velocity anti-fall protection, to solve the serious obstacle existing in existing robots that humanoid robots Inadequacies of doing difficult actions, unable to protect the robot from sudden power failure and fall when running, unable to protect the motor, gears and fuselage
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Embodiment 1
[0059] A robot control method based on three-axis angular velocity anti-fall protection, the method includes the following steps:
[0060] a). Install the three-axis angular velocity sensor
[0061] A three-axis angular velocity sensor is installed in each robot motion joint of the robot based on the three-axis angular velocity anti-fall protection. The three-axis angular velocity sensor collects parameters including the angular velocity values in X, Y, and Z directions;
[0062] b). Get the standard three-axis angular velocity value
[0063] When the robot is finished debugging, collect the initial three-axis angular velocity value β1Xi, β1Yi, β1Zi (i is 1, 2...m) of each robot motion joint through the three-axis angular velocity sensor, and obtain the standard three-axis angular velocity value N1 after data processing and store it In the storage unit, where
[0064] N1=(β1Xi*λ1+β1Yi*λ2+β1Zi*λ3) / (λ1+λ2+λ3),
[0065] Where λ1, λ2, λ3 are weighting factors, 0<λ1<3, 0<λ2<3, 0<λ3<1;
[00...
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The invention discloses a control method for a robot based on triaxial angular speed anti-falling protection, and relates to a robot control method. According to the method, a triaxial angular speed sensor is mounted on each robot motion join of the robot based on triaxial angular speed anti-falling protection, and collection parameters of the triaxial angular speed sensors comprise angular speedvalues in the directions X, Y and Z; and when the robot runs, the triaxial angular speed sensors collect the triaxial angular speed values of the joints during running in real time, the real-time triaxial angular speed values are obtained after data processing, the specific value of the real-time triaxial angular speed values and the standard angular speed value is worked out, and corresponding commands are judged and executed according to the specific value. Accuracy of the method is high, the defect that high-difficulty actions of the humanoid robot are hindered can be avoided, protection can be achieved on the situation that the robot is suddenly powered off to fall during running, a motor, a gear and a robot body can be protected, and the workloads of maintenance personnel can be reduced; and the structure is simple, cost is low, and application and promotion are easy.
Description
Technical field [0001] The invention relates to a robot and a control method thereof, in particular to a robot control method based on three-axis angular velocity anti-fall protection. Background technique [0002] At present, with the rapid development of science and technology, the robotics industry has developed rapidly. Sports robots, service robots, educational robots, singing and dancing robots, dialogue robots, etc. can be seen everywhere in the market. The invention patent authorized announcement number CN107962595B discloses a robot falling protection system and method. The robot uses a balance sensing module and a collision detection module to collect signals, and when the balance signal and / or the collision strength signal is higher than the threshold, it will alarm; When the balance signal is higher than the threshold, the collision strength signal is judged whether it is higher than the collision strength threshold. Only when the balance signal and the collision stre...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J9/00B25J9/16B25J17/00B25J19/06
CPCB25J9/0006B25J9/1676B25J17/00B25J9/1694B25J19/06Y02P90/02
Inventor 潘角石忠磊卢炳回傅天珠卢森锴覃以威
Owner 桂林凯歌信息科技有限公司