Novel sensorless robot collision detection method and novel sensorless robot collision detection system

Abstract

The invention discloses a novel sensorless robot collision detection method. The method comprises the following steps that actions, postures and path planning of a robot are set; according to the postures and path planning of the robot, estimated current and dynamic current threshold values of normal working of the mechanical arm in all actions are calculated, and a detection threshold value is set; in the moving process of the robot, the actual current of a mechanical arm is collected in real time, and the actual current is compared with the dynamic current threshold value to obtain error current r; the error current r is compared with a set detection threshold value, if the error current r is larger than the detection threshold value, it is judged that the mechanical arm of the robot is collided, and at the moment, a collision reaction program is executed; if the error current r is smaller than the detection threshold value, the next action is executed according to a set program; and the steps S3 and S4 are repeated until all the actions are completed. According to the method, the magnitude of external collision force is detected through the change of current, the start and stop of the robot are controlled to ensure the rapid stop of collision, and an additional sensor is not used.

Description

technical field [0001] The invention relates to the technical field of robot collision detection and protection, in particular to a novel sensorless robot collision detection method and system thereof. Background technique [0002] As collaborative tasks involving humans and various robots become more frequent, safety becomes a top priority. The importance of human-robot collision safety in the event of robot failure or misoperation has received widespread attention from workers and researchers. [0003] Regarding machine collision detection, there have been some solutions, installing passive mechanisms for absorbing damage, avoiding collisions by using vision sensors, and evaluating robot design and control schemes based on collision analysis and safety. There are other studies on collision detection, for example, the use of skin sensors for collision detection; there are also some researches on the use of joint torque sensors embedded in robots for torque control for coll...

AI Technical Summary

Problems solved by technology

For example, the "Robot Collision Detection Method" disclosed by the publication number CN 113021353 A will detect the drive current of the servo motor, establish a dynamic model or a friction mathematical model, and perform collision judgment after decomposing the current, but the system dynamics needs to be established in the reform plan Model and friction mathematical model, the process is relatively complicated, which is not conducive to popularization and application

Publication No. CN 112405523 A discloses a robot collision detection method, device, and robot. The collision is judged by detecting the rate of change of rotational speed, and the calculation is complicated and the efficiency is low.

In addition, there is a solution for robot collision judgment by checking the difference of current change, but this solution requires a lot of calculations, which directly affects the final judgment efficiency and action efficiency

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