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

A technology of self-collision detection and collision detection, applied in the field of robotics, can solve problems such as reducing the working space of the left and right arm cooperation area, collision detection, and inability to complete tasks

Active Publication Date: 2020-07-03
SIASUN CO LTD
View PDF4 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 preventiv

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Double-arm self-collision detecting method and computer readable storage medium
  • Double-arm self-collision detecting method and computer readable storage medium
  • Double-arm self-collision detecting method and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] like figure 1 As shown, this embodiment provides a dual-arm self-collision detection method, which uses the bounding box for rough collision detection and then uses the grid for fine collision detection; for a dual-arm collaborative robot in a certain application scenario, a given task level Motion planning requires real-time detection of the collision between the left arm and the right arm, the left arm or the right arm and the body during the motion planning process of the arms, and the robot controller responds in time according to the collision feedback signal, such as replanning or deceleration, Stop operation and other measures to ensure that the robot can complete the task safely.

[0082] The collision model of this example mainly includes two layers: the outer layer is based on the idea of ​​the bounding box, which uses the basic geometric model to envelop the actual model, and the inner layer is the actual model, which is composed of triangular meshes after th...

Embodiment 2

[0157] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method in the first embodiment is implemented.

[0158] The embodiment of the present application is only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into Another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/16B25J9/1679B25J19/0095
Inventor 杨跞宗成星孙超许楠李法设
Owner SIASUN CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap