Robot sensor-free collision detection method and application based on time series analysis

A technology of collision detection and timing analysis, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as real-time deterioration, mechanical structure complexity cost, and increased control system complexity, so as to eliminate sensitivity differences and ensure Effects of detection accuracy and reduction of detection delay

Active Publication Date: 2022-05-24
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of collision detection method can guarantee the safety of human-machine cooperation to a certain extent, but there are two main shortcomings: on the one hand, the collection and processing of sensor data will increase the complexity of the control system, which is likely to cause real-time deterioration; on the other hand, the installation Additional sensors will increase the complexity of the mechanical structure and the cost of manufacturing
However, these methods will complicate the robot control system and affect the real-time detection

Method used

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  • Robot sensor-free collision detection method and application based on time series analysis
  • Robot sensor-free collision detection method and application based on time series analysis
  • Robot sensor-free collision detection method and application based on time series analysis

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Experimental program
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Effect test

Embodiment 1

[0080] As shown in Figure 1(a), the robot of this embodiment adopts a series robot, and the specific structure includes: a base 1, a waist 2, a large arm motor 3, a large arm 4, an elbow motor 5, an elbow 6, a small arm 7 and wrist 8;

[0081] Among them, the base 1 is connected with the waist 2, the waist is connected with the big arm 4, the big arm 4 is connected with the elbow 6, the elbow 6 is connected with the small arm 7, the small arm 7 is connected with the wrist 8, the big arm motor 3 is connected with the big arm 4 is connected to drive the big arm 4 to rotate, and the elbow motor 5 is connected to the elbow 6 to drive the elbow to rotate.

[0082] Furthermore, the present invention is not limited to the tandem robot in this embodiment, and the method according to the present invention can be applied to other articulated tandem robots.

[0083] As shown in Figure 1(b), in this embodiment, taking the motion process of the articulated robot as an example, when there ...

Embodiment 2

[0128] This embodiment provides a sensor-free collision detection system for a robot based on time sequence analysis, including: a state information acquisition module, a joint actual external torque calculation module, an autoregressive model building module, a predicted value generation module, a judgment module, and a joint actual external torque update module;

[0129] In this embodiment, the state information collection module is used to collect the state information of the robot in real time through the servo driver during the movement of the robot, and the state information includes the joint state of the robot joint and the actual torque of the joint;

[0130] In this embodiment, the joint actual external torque calculation module is used to combine the state information and the robot dynamics model to obtain the joint calculated torque, and the joint actual torque is subtracted from the joint calculated torque to obtain the joint actual external torque;

[0131] In th...

Embodiment 3

[0136] This embodiment provides a storage medium. The storage medium may be a storage medium such as a ROM, a RAM, a magnetic disk, an optical disk, etc., and the storage medium stores one or more programs. When the programs are executed by a processor, the time-based implementation of the above Embodiment 1 is realized. A robot sensor-free collision detection method based on sequence analysis.

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Abstract

The invention discloses a sensor-free collision detection method for a robot based on time series analysis and its application. The method steps include: collecting the state information of the robot through a servo driver during the movement of the robot, including the joint state of the robot joint and the actual state of the joint. Torque; based on the state information and combined with the robot dynamics model, the calculated torque of the joint is obtained, and the actual external torque of the joint is obtained by subtracting the actual torque of the joint from the calculated torque of the joint; the analysis of the actual external torque characteristics of the joint establishes an autoregressive model; based on time series analysis, combined with The autoregressive model generates multi-step predicted external torques and dynamic thresholds; based on the actual external torques and dynamic thresholds of the joints, the collision conditions are determined to achieve detection. The invention establishes a time series model of the external torque based on the characteristics of the external torque of the robot, generates dynamic thresholds based on the historical motion information of the robot, has good detection performance for different collision states, and improves detection accuracy while ensuring real-time performance.

Description

technical field [0001] The invention relates to the technical field of sensor-free collision detection of industrial robots, in particular to a sensor-free collision detection method and application of robots based on time series analysis. Background technique [0002] With the growth of enterprises' demand for automation, the development idea of ​​"machine substitution" has gradually changed into "human-machine collaboration". In the process of human-robot collaboration, industrial robots must have a collision detection function to ensure the safety of human-robot collaboration. Robot collision detection methods can be roughly divided into two types: collision detection based on external sensors and collision detection without external sensors. [0003] Collision detection based on external sensors is to install additional sensors on the robot to perform collision detection by monitoring the motion state in real time. It is common to install vision sensors in the working ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1676B25J9/161B25J19/0095
Inventor 张铁葛培仲邹焱飚何英武
Owner SOUTH CHINA UNIV OF TECH
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