Industrial robot collision detection method

An industrial robot and collision detection technology, which is applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of insufficient control compliance and inability to adjust

Pending Publication Date: 2022-03-11
厦门驱动未来科技有限公司
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Problems solved by technology

At the same time, the backward trajectory of the robot is not designed, resulting in insufficient control flexibility and cannot be adjusted according to the user's preferences.

Method used

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  • Industrial robot collision detection method
  • Industrial robot collision detection method
  • Industrial robot collision detection method

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Embodiment Construction

[0030] The present invention will be further described below.

[0031] A collision detection method for an industrial robot, characterized in that it includes collision detection based on a fixed threshold, collision detection combined with frequency domain analysis, robot response action design, robot collision detection experiment,

[0032] The collision detection based on the fixed threshold needs to establish a dynamic relation when the robot is not affected by external forces: When the robot is subjected to external force during operation, the dynamic relation becomes: The control method based on the collision detection of the fixed threshold makes the joints of the robot move according to the trapezoidal speed planning in the experiment, and calculates the theoretical torque and actual torque of the robot according to the steps of the control method, and records the joints in the case of no collision. Execute the theoretical torque and the actual torque collected in t...

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Abstract

The invention relates to the technical field of industrial robot detection methods, in particular to an industrial robot collision detection method. Comprising the steps of collision detection based on a fixed threshold value, collision detection combined with frequency domain analysis, robot reaction action design and robot collision detection experiment. According to the method, robot collision is detected by analyzing robot joint torque data and a theoretical torque value in the running process of the robot, and a traditional collision detection algorithm only detects existence and magnitude of external torque. According to the industrial robot collision detection method, a frequency domain analysis method is provided to distinguish accidental collision from load change or external torque change caused by intentional contact, and meanwhile, a backward track of the robot in collision is also designed.

Description

technical field [0001] The invention relates to the technical field of detection methods for industrial robots, in particular to a collision detection method for industrial robots. Background technique [0002] Collaborative robots work in the same workspace with humans and have close physical cooperation, and safety issues are the primary concern. Collaborative robots should be able to quickly detect collisions and respond safely to limit injuries from physical contact. In the absence of human detection, the relative motion between the robot and the human is unpredictable, and accidental collisions can occur at any position of the robot arm. [0003] Robot collision protection is divided into two stages: pre-collision stage and early collision stage. In the pre-collision stage, collision avoidance is the primary goal, which requires modeling of the environment in the workspace and complex motion planning techniques to enable the robot to modify its path. Collaborative rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 曹新林姜超辛悦郑思静吴桐
Owner 厦门驱动未来科技有限公司
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