Industrial robot collision detection method

Abstract

The invention discloses an industrial robot collision detection method. By the adoption of a collision detection method based on torque difference, in a robot operation process, theoretical torque values of joints are predicted in real time according to a movement track, and differences between the theoretical torque values of the joints and actual sampled torque values of the joints are calculated in real time. When the torque differences exceed a collision threshold, it is regarded that collision happens, a motor stops running immediately, and a robot stops moving. According to the method, a sensor does not need to be additionally arranged, the structure of the robot does not need to be changed, the method is suitable for any operation working condition of the robot, and there is no limit on the working conditions. The whole process is carried out off-line, people only need to use prediction results in online programs of collision detection, the programs are simple, and the execution efficiency is high. According to the method, the predicted torque of the joints is delayed by N cycles and processed, the actual torque is filtered through an average value, and then the torque differences are solved so that the collision threshold can be reduced, and sensitivity of the collision detection is improved.

Description

technical field [0001] The invention relates to a detection method of an industrial robot, in particular to a method for collision detection of an industrial robot. Background technique [0002] During the application of industrial robots, the robot collides with external objects or people due to various reasons, often resulting in damage to the robot body and / or damage or damage to the objects it collides with. If this situation is not detected and properly dealt with, when a collision occurs, the harm it produces is difficult to control, and safety cannot be guaranteed. [0003] Common collision detection methods mainly include detection methods based on path planning and torque sensors. The detection method based on path planning often has a large amount of calculation, and needs to be specific to the workspace; the detection method based on the torque sensor, due to the need to add additional sensors, increases the cost of collision detection, and may need to change the...

AI Technical Summary

Problems solved by technology

Since the current value of the motor cannot be obtained, a current sensor needs to be installed on the motor, which undoubtedly increases the cost of collision detection

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