Safety control method and system for robot collision

By recording the motion state data of the robotic arm joints in real time and performing impedance control, adjusting the stiffness and damping parameters, the problems of large collision force and high risk of secondary collision after a collision are solved, and safe and reliable robotic arm control is achieved.

CN117621061BActive Publication Date: 2026-07-07AOBO (SHANDONG) INTELLIGENT ROBOT CO LTD
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Patent Information

Application Number
CN202311623728.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-11-30
Publication Date
2026-07-07
Estimated Expiration
2043-11-30

AI Technical Summary

Technical Problem

Existing robotic arms have difficulty effectively controlling the collision force and reducing the risk of secondary collisions after a collision, resulting in insufficient human-machine safety. Furthermore, reducing the operating speed to ensure safety will affect production efficiency.

Method used

The robot arm records motion data of its joints in real time. After a collision is detected, the stiffness and damping parameters of the joints are adjusted by impedance control. The robot then retracts according to the desired motion trajectory to reduce the collision force and lower the risk of secondary collisions.

Benefits of technology

It improves the response speed of the robotic arm, reduces the collision force within a safe range, effectively controls the joint movement posture, reduces the risk of secondary collisions, and ensures human-machine safety.

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Abstract

The application provides a mechanical arm collision safety control method and system, the method comprises the following steps: recording the motion state data of each joint of the mechanical arm in real time, and storing the motion state data; detecting whether the mechanical arm collides; when the mechanical arm collides, obtaining the initial motion state of each joint of the mechanical arm at the time of collision according to the motion state data, and the expected path position of each joint after collision; obtaining the expected motion trajectory of each joint after collision according to the expected path position of each joint after collision; and carrying out impedance control on each joint according to the expected motion trajectory of each joint after collision, so that each joint retreats according to the expected motion trajectory after collision. The application can reduce the collision force in the collision process, effectively control the motion posture of each joint in the mechanical arm, reduce the risk of secondary collision, and ensure the safety of man-machine.
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