An industrial robot collaborative interaction method and system

A technology of industrial robot and interactive method, which is applied in the field of industrial robot collaborative interactive method and system, to achieve the effect of low cost

Active Publication Date: 2021-07-30
ROKAE SHANDONG INTELLIGENT TECH CO LTD
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  • Description
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Problems solved by technology

There is no robot that can provide collaborative interaction capabilities in the prior art

Method used

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  • An industrial robot collaborative interaction method and system
  • An industrial robot collaborative interaction method and system
  • An industrial robot collaborative interaction method and system

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Embodiment Construction

[0039]Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0040] The present invention proposes an industrial robot collaborative interaction method and system, which is composed of a universal serial robot and a six-dimensional force-torque sensor located between the robot base and the fixed surface, which can realize the human-robot-environment based on the base force-torque sensor Interactive external force measurement, estimation and calculation, proposed industrial robot cooperative interaction modes, sub-modes and robot interaction control methods in each mode.

[0041] Such as fi...

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Abstract

The present invention proposes an industrial robot collaborative interaction method and system, including: establishing an industrial robot kinematics and dynamics model, determining a base force-moment measurement coordinate system; binding industrial robot connecting rod length parameters and mass distribution characteristic parameters; measuring The joint motion parameters of the industrial robot are filtered; according to the joint motion parameters of the robot, the motion parameters of each connecting rod of the industrial robot are solved; according to the motion parameters of each connecting rod and the quality characteristic parameters of the industrial robot, the freedom of each connecting rod is calculated. Motion support reaction couple, solve the support reaction couple transmitted to the robot base; measure the fixed support reaction force of the base and perform filtering processing; calculate the projection of the interactive external force in the base coordinate system; control the interactive motion of the industrial robot. The present invention is applicable to all series-structured robots, and the three sub-modes set therein can meet the basic interactive ability requirements in the process of man-machine cooperation under the premise of ensuring the safety of man-machine.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot collaborative interaction method and system. Background technique [0002] For safety reasons, traditional industrial robots are strictly limited to working environments isolated from humans. With the expansion of industrial robot applications, especially in general application scenarios for small and medium-sized enterprises, robots and humans need to cooperate closely to complete tasks. , requires industrial robots to have the ability to cooperate and interact with humans. There is no robot that can provide collaborative interaction capabilities in the prior art. Contents of the invention [0003] The aim of the present invention is to solve at least one of said technical drawbacks. [0004] For this reason, the object of the present invention is to propose an industrial robot cooperative interaction method. [0005] In order to achieve the ab...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 庹华于文进张雷宋斌袁顺宁
Owner ROKAE SHANDONG INTELLIGENT TECH CO LTD
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