Sensorless collision detection method and system for six-axis industrial robot

Abstract

The invention discloses a sensorless collision detection method for a six-axis industrial robot. The sensorless collision detection method for the six-axis industrial robot comprises the steps of adopting a collision detection method based on a torque difference, and measuring an actual torque of each joint in the actual operation process of the robot; carrying out filtering and denoising processing on the actual torque of each joint; meanwhile, predicting an ideal torque of each joint in real time; carrying out difference calculation on the ideal torque obtained by calculation through the kinetic model and subjected to filtering and the torque which is actually measured and subjected to filtering and denoising processing so as to obtain a difference value; and adding PD control in a forward path of a control system, and carrying out parameter optimization to reduce delay time between the actually measured torque and the theoretically calculated torque, so that a difference error between the theoretically calculated torque torque and the actually measured torque is smaller, and the collision detection sensitivity and precision are improved.

Description

technical field [0001] The invention relates to the research field of kinematics and dynamics control of a six-axis industrial robot, in particular to a sensorless collision detection method and system for a six-axis industrial robot. Background technique [0002] In the development process of industrial robots, due to the need for human-machine cooperation during the use of industrial robots, collisions between humans and the robot body / external environment and the robot body may occur during collaboration for some reasons. In order to ensure the safety of personnel and the robot The body is not damaged, so collision detection is very important for the safe use of industrial robots. Common collision detection methods are mainly divided into two categories. Sensor-based collision detection methods, such as torque sensors, smart skin sensors, etc.; the other is a sensorless collision detection method based on dynamic models, such as: collision detection based on momentum dif...

AI Technical Summary

Problems solved by technology

Sensor-based collision detection methods, such as torque sensors, smart skin sensors, etc.; the other is a sensorless collision detection method based on dynamic models, such as: collision detection based on momentum difference observers, collision detection based on total energy changes And the collision detection based on the torque difference observer, this method can reduce the cost, but the collision detection accuracy is not high due to the modeling error and the delay between the actual measurement value and the theoretical calculation value.

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