A Collision Detection Method Between Robot Joints and Geometry
A technology of robot joints and detection methods, which is applied in the field of collision detection, can solve the problems of high detection cost, and achieve the effect of simple program, high execution efficiency and low cost
Active Publication Date: 2021-06-08
山西万合智能科技有限公司
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[0006] Aiming at the technical problem of the high detection cost of the above-mentioned collision detection method, the present invention provides a detection method for the collision between robot joints and geometric bodies that does not require additional sensors, does not require modification of the robot structure, and has no restrictions on working conditions.
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[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0034] A detection method for a collision between a robot joint and a geometric body, comprising the following steps:
[0035] S1. The kinematic joints of the robot are equivalent to an enveloping cylinder. The radius of the bottom surface of the enveloping cylinder is r, the height is h, and the coordinates of the midpoint of the axis of the enveloping cylinder are C(x c ,y c ,z c ), the axis unit direction vector of the enveloping cylinder is The center ...
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The invention belongs to the technical field of collision detection, and specifically relates to a detection method for a collision between a robot joint and a geometric body, which includes the following steps: S1. Equivalenting each motion joint of the robot to a maximum envelope cylinder; S2. Colliding the geometric body with the joint. The surface of is equivalent to the maximum enveloping rectangle with length l and width s; S3, detecting whether the four sides of the maximum enveloping rectangle collide with the maximum enveloping cylinder; S4, detecting whether the plane of the maximum enclosing rectangle collides with the maximum enveloping rectangle Cylinder collision; S5, if the four sides of the largest envelope rectangle in S3 and S4, the plane of the largest envelope rectangle and the largest envelope cylinder do not collide, then the maximum envelope rectangle does not collide with the largest envelope cylinder; Otherwise a collision occurs. The invention does not need to attach any sensor during the detection process, does not need any modification to the structure of the robot, has no restrictions on the working conditions, has low cost, simple program and high execution efficiency. The invention is used for detecting the collision between robot joints and geometry bodies.
Description
technical field [0001] The invention belongs to the technical field of collision detection, and in particular relates to a detection method for a collision between a robot joint and a geometric body. Background technique [0002] With the continuous development of the robot industry, people have higher and higher requirements for robots, especially in terms of robot safety performance. Therefore, in the actual application process, collision detection is very necessary. It can not only guarantee the safety of the robot body, but also protect the safety of external objects or personnel. [0003] Robot collision detection is generally divided into two parts: collision detection between robot joints and collision detection between robot and external environment. For the collision detection between robot joints, the most common method is the cylinder model method, in which the specific structure of each kinematic joint of the robot is simplified into an enveloping cylinder with ...
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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 陈晶晶李济甫王素钢尉小雪
Owner 山西万合智能科技有限公司