Double-arm self-collision detecting method and computer readable storage medium

Abstract

The invention provides a double-arm self-collision detecting method and a computer readable storage medium. The double-arm self-collision detecting method utilizes a bundling box to perform rough collision detection, utilizes a network to perform precise collision detection, gives a task-stage motion plan for a double-arm collaborative robot, detects a collision condition among a left arm, a leftarm, a right arm and a body or among a right arm, a right arm and a body in a motion planning process of double arms; and a robot controller timely responses according to a collision feedback signal.The double-arm self-collision detecting method has the beneficial technical effect of enabling collision detection to be more optimized and more accurate.

Description

technical field [0001] The invention relates to the field of robots, in particular to a dual-arm self-collision detection method and a computer-readable storage medium. Background technique [0002] There are currently two main methods for self-collision detection: one is based on torque sensor detection. The second is the collision detection based on the geometric model, and the collision detection of the actual model is surrounded by the basic geometry. However, the existing self-collision detection methods have the following deficiencies: 1) The detection method of the torque sensor is too expensive, and the installation of the torque sensor needs to be considered in the robot design stage, that is to say, this method is not necessarily applicable In addition, the simple torque detection will cause many misjudgments during the robot debugging process; third, based on the detection of the torque sensor, the collision has already occurred at the time of detection, and it c...

AI Technical Summary

Problems solved by technology

However, the existing self-collision detection methods have the following disadvantages: 1) The detection method of the torque sensor is too expensive, and the installation of the torque sensor needs to be considered in the robot design stage, that is to say, this method is not necessarily applicable In addition, the simple torque detection will cause many misjudgments during the robot debugging process; third, based on the detection of the torque sensor, the collision has already occurred at the time of detection, and it cannot play a preventive role.

2) The geometric model collision detection method envelops the actual model through the basic geometry, but the disadvantage is that its collision accuracy depends on the closeness between the enveloped model and the actual model

When performing dual-arm task planning, considering different application requirements, the method based on the bounding box will reduce the working space of the left and right arm cooperation areas due to the expansion of the actual model volume, which may trigger collision detection and fail to complete the task.

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