Low-delay method for detecting mechanical arm collision by robot

Abstract

The invention discloses a low-delay method for detecting mechanical arm collision by a robot. The low-delay method comprises the following operation methods: S1, firstly, performing operation on an operation terminal, and selecting an item for detecting the mechanical arm collision by the robot through a detection item selection module in a selection simulation system; S2, adopting the detection item selection module to select the speed, the displacement and the track during testing through a control module according to the selected item type; and S3, starting an infrared sensor on the robot, performing simulation detection on a robot collision model through a collision detection calculation unit in a simulation collision module, and automatically calculating a collision result by the simulation collision module after the detection is finished. Whether the mechanical arm is collided or not is judged in advance through simulation, the detection precision is high, collision accidents are avoided, a complex system dynamics model needs to be established, acceleration does not need to be measured, calculation is more efficient, and the method can be easily used for an existing system without changing the structure of the mechanical arm.

Description

technical field [0001] The invention relates to the field of robot detection methods, in particular to a method for a low-delay robot to detect the collision of a mechanical arm. Background technique [0002] Since the 21st century, robot technology has been considered as one of the high-tech technologies that are of great significance to the development of emerging industries in the future, and domestic and foreign industrial circles have attached great importance to the research of robot technology. Since the application environment of the robotic arm is often very complex, simulating the movement of the robotic arm in advance can minimize the occurrence of collisions between the robotic arm and the environment or itself. Therefore, scholars at home and abroad have conducted a lot of research on collision detection algorithms. The main task of this type of algorithm is to detect whether objects in the virtual simulation environment are in contact in time, and can prompt th...

AI Technical Summary

Problems solved by technology

There are still some shortcomings in this method: the construction is more complicated; the detection accuracy is not high enough, and there are still problems of collisions

[0004] There are many types of collision detection algorithms currently used in the motion simulation of manipulators. The space segmentation method and bounding box technology are widely used algorithms at this stage. However, when the simulation scene is huge and there are many simulation objects, the total number of basic geometric elements to construct the scene It will also increase, and it will be difficult to satisfy both the accuracy and real-time performance of the detection by using only a single collision detection method

Images