System and method for safely compensating weight of robot

Abstract

The invention discloses a system and a method for safely compensating the weight of a robot, which are characterized in that a weight tolerance is formed by a difference value between an estimated torsion and a detected measured torsion through dynamics calculation, when the detected weight tolerance exceeds a preset trigger condition, a notification error is output, and the robot is brought to a safe state, and when the weight tolerance does not exceed the preset trigger condition, the robot is not in a safe state. And sending weight compensation information to carry out weight compensation so as to ensure the correctness of the compensated weight.

Description

technical field [0001] The invention relates to a robot, in particular to a system and method for safely compensating the weight of the robot when the weight at the end of the robot changes. Background technique [0002] With the vigorous development of robot technology, the use of robots in factories can assist operators in quickly processing, assembling and manufacturing operations and improve factory production efficiency, but whether the robots can operate normally will seriously affect the safety of collaborative workers. Strict safety standards and regulations to maintain the safety of the robot's work. [0003] In order to ensure the safety of robots and humans working at the same time, the collision force must be limited, so collision force detection is the main collaborative function of most collaborative robots. In the prior art, to detect the collision force, a current sensor is usually installed in the robot joint to estimate the joint torque, or a torque sensor...

AI Technical Summary

Problems solved by technology

[0005] However, for the prior art programming system for robots, non-professional users may make programming errors. Even if the user’s programming is correct, it needs to be compiled into executed commands after programming, and there is a risk of errors in the programming system and compiling system. There is also a risk of errors causing robot compensation

In addition, when the program control system of the robot makes an error, it may also perform weight compensation at an incorrect timing

These errors will directly lead to the failure of the safety function of the robot force and torque shutdown. For example, the robot actually holds a heavy workpiece, but the compensation value obtained by the safety module is relatively light. Although the force exceeds the shutdown conditions set by the user, the robot's control system cannot be shut down, and it is difficult to perform safety functions and cannot ensure the safety of the collaborative robot, which seriously affects the safety of the collaborative workers.

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