Robot collision detection method and system, computer and readable storage medium

Abstract

The invention provides a robot collision detection method and system, a computer and a readable storage medium. The method comprises the steps that an undisturbed input data set of a current robot is collected according to a kinetic model and a kinetic parameter identification algorithm; respectively acquiring a disturbance input data set of the current robot according to the kinetic model and a kinetic parameter identification algorithm; respectively calculating a theoretical angular velocity and a theoretical angular acceleration corresponding to the angular velocity and the angular acceleration through a kinetic model, and collecting the theoretical angular velocity and the theoretical angular acceleration as a theoretical input data set; and judging whether the current robot collides or not based on the non-disturbance input data set, the disturbance input data set, the theoretical input data set and a preset judgment model. By means of the mode, jumping collision or flexible collision generated under different conditions can be distinguished with high accuracy, meanwhile, an additional torque sensor does not need to be additionally installed, and the use cost of the robot is saved.

Description

technical field [0001] The present invention relates to the field of robot technology, and in particular, to a method, system, computer and readable storage medium for robot collision detection. Background technique [0002] Robot is a common name for automatic control machine (Robot), which includes all the machines that simulate human behavior or thinking and simulate other creatures (such as robot dogs, robot cats, etc.). In contemporary industry, a robot refers to a man-made mechanical device that can perform tasks automatically to replace or assist human work. For example, in the current popular welding field and human-machine collaboration field, the safety of the robotic arm is particularly important. When the robotic arm collides with the outside world, it needs to make a timely judgment and stop. [0003] In the prior art, the detection of the collision of the manipulator mostly adopts the traditional threshold judgment method, that is, the judgment is made by the ...

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Problems solved by technology

[0004] Based on this, the object of the present invention is to provide a robot collision detection method, system, computer and readable storage medium to solve the problem that the prior art is easily affected by the mechanical arm body and the external environment, thereby easily causing misjudgment of collision, making Unable to guarantee the accuracy of the judgment

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