Robot collision detection method based on external torque estimation model

Abstract

The invention relates to a robot collision detection method based on an external torque estimation model. A sensorless external torque estimation mode is adopted, a joint rotation angle is acquired to calculate a joint gravitational torque, a joint angular velocity is acquired to calculate a friction torque, a joint current is acquired to calculate a joint driving torque, an external torque estimation value is obtained, real-time monitoring on collision external force is performed, an external torque oscillation threshold value and a collision threshold value are set to detect collision, and two collision detection reflecting modes are provided, so that the safe, simple and effective robot collision detection method is achieved.

Description

technical field [0001] The invention relates to a robot control technology, in particular to a robot collision detection method based on an external moment estimation model. Background technique [0002] When a robot completes human-computer interaction tasks in a collaborative shared space, ensuring human-computer safety is the premise of human-computer interaction. It is necessary to detect whether there is a collision between the robot and the human, and between the robot and the environment in real time. When the robot collides, safety measures must be taken to avoid Accidents happen. At present, robot collision detection is mainly divided into two detection methods based on external sensors and sensorless. [0003] The detection method based on external sensors usually uses sensors such as vision, force, and touch to obtain interactive information between the robot and the outside world, and has high sensitivity. This method requires one or more additional sensors, whi...

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Problems solved by technology

[0003] The detection method based on external sensors usually uses sensors such as vision, force, and touch to obtain interactive information between the robot and the outside world, and has high sensitivity. This method requires one or more additional sensors, which are expensive and not conducive to widespread promotion; Therefore, it is necessary to study the sensorless robot collision detection method.

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