Robot collision detection method and device, storage medium and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot collision detection method and device, a storage medium and a robot. The method comprises the steps of acquiring the first motor torque, the first angular displacement, the first angular velocity and the first angular acceleration of a robot joint; updating kinetic parameters of the robot in a preset updating mode andcalculating the theoretical torque of the joint according to the updated kinetic parameters, the first angular displacement, the first angular velocity and the first angular acceleration; obtaining the first external torque of the joint according to the first motor torque and the theoretical torque; inputting the first motor torque, the first angular displacement, the first angular velocity and the first angular acceleration into a preset observer model to obtain the second external torque of the joint; judging whether the first external torque is greater than a first preset threshold value or not and judging whether the second external torque is greater than a second preset threshold value or not; and determining that collision occurs to the robot if the first external torque is greaterthan the first preset threshold value and the second external torque is greater than the second preset threshold value.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot collision detection method, a detection device, a computer-readable storage medium and a robot. Background technique [0002] During the application process of the robot, it often collides with external objects due to various reasons, which may easily cause damage to the robot or the object being hit. Therefore, in order to avoid collisions between the robot and external objects, it is necessary to perform collision detection on the robot. [0003] At present, the collision detection methods of robots mainly include the collision detection method based on the motor current, or the collision detection method based on the inverse dynamics model, or the collision detection method based on the momentum observer model, etc., although these detection methods can realize the Collision detection, these detection methods all have the problems of low detection accuracy, low detectio...

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a robot collision detection method, a detection device, a computer-readable storage medium, and a robot, which can solve the problem of low accuracy and low sensitivity of robot collision detection, so that it is easy to trigger a collision alarm by mistake

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