一种机器人关节所受外力的评估方法、装置、设备及介质
By acquiring the position and driving torque of the robot joints, and using dynamic equations and a target finite-time observer to evaluate external forces, the problems of high cost and time delay in existing technologies are solved, and fast and low-cost external force evaluation is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUBO (BEIJING) ROBOTICS TECH CO LTD
- Filing Date
- 2023-01-16
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, collaborative robots face difficulties in detecting interactive forces and external forces in human-computer interaction scenarios. Using additional force/torque sensors is costly and time-consuming, making them difficult to apply in practice.
By acquiring the position, velocity, and joint driving torque of the robot joints, the generalized momentum is calculated using the dynamic equations. The power-law variation rule of the target finite-time observer is designed, its constant fractional power-law exponent is modified, and the external force is evaluated by reading the observer's state output.
It enables rapid and convenient assessment of external forces on robot joints, reducing costs and latency, and eliminating the need for additional force or torque sensors.
Smart Images
Figure CN116175563B_ABST