A method for improving detection accuracy and protection sensitivity of robot collision force

Abstract

The invention discloses a method for improving the detection accuracy of robot collision force and the protection sensitivity. The invention dynamically adjusts the cut-off frequency of the filter, and at the same time requires synchronous filtering for speed, position and feedback torque to ensure the synchronization of sampling time, and improves the detection of collision. force precision. The detection sensitivity of collision force is improved by sampling instruction switching tool number and collision force sensitivity during programming. For the action mode after the collision is detected, it is proposed to determine different action modes for each joint according to the type of robot. First, the maximum torque that the reducer or motor can bear is decelerated and stopped. After stopping, the joints affected by gravity maintain the torque mode and the current torque. Unchanged, the joints not affected by gravity turn on the brakes and turn on the dynamic brakes to short-circuit the motor windings. While providing a certain resistance, it is convenient for the operator to manually remove the robot from the collision point and release the collision.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for improving the detection accuracy of robot collision force and the protection sensitivity. Background technique [0002] In practical applications, industrial robots will interfere and collide with the surrounding environment due to various reasons such as human misoperation and the movement of surrounding workpieces. If the operation of the robot is not stopped in time after a collision, the robot body, especially the reducer and motor, will be subjected to a large external force, resulting in damage to relatively fragile components such as the reducer and motor. The traditional methods for detecting whether a robot has collided are as follows: [0003] 1. Detect whether a collision has occurred by detecting whether the motor current exceeds the maximum current that the motor can carry. [0004] 2. By installing a detection device (camera, radar, etc.) at...

AI Technical Summary

Problems solved by technology

[0012] The present invention provides a method for improving the detection accuracy and protection sensitivity of robot collision force, so as to solve the problems existing in the third scheme in the background technology

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