Collaborative robot control method and collaborative robot

Abstract

The invention relates to the technical field of collaborative robots, in particular to a collaborative robot control method and a collaborative robot, and the collaborative robot control method comprises the following steps: S1, setting a first object on a far end point of a mechanical arm, and constructing a tool coordinate system corresponding to the first object; s2, load information corresponding to the working track is generated under the tool coordinate system; and S3, generating a load compensation program according to the load information to obtain collision information of the collaborative robot. The method has the beneficial effects that by constructing the tool coordinate system and combining the working track of the collaborative robot during machining, the judgment on the force reading possibly caused by contact between the first object and the second object during machining of the collaborative robot is effectively realized, so that the load information is obtained, and the working efficiency is improved. Therefore, the corresponding load compensation program can be obtained according to the load information, so that the problem of false alarm caused by contact between the first object and the second object in the machining process is avoided, the collaborative robot can still start the collaborative mode during machining, and the safety of the robot is improved.

Description

Technical field [0001] The present invention involves the field of collaborative robotics, and specifically involves the control method and collaborative robots of a collaborative robot. Background technique [0002] Collaborative robots refer to a new generation of robots that can safely interact or contact humans. Compared with traditional types of robots, at the beginning of the design, such robots considered reducing the risk of robots to people at the design level. In order to achieve high security of such robots, collaborative robots usually have one or more force sensors in built -in. When the robot works in the collaboration mode, the force sensor can detect the torque and power of external objects when exposed to the robot, thereby quickly responding. For example, when the contact intensity is greater than the limit, the control robot controls it with a specific program to avoid the damage of the robot or object caused by the collision of the robot body and the external ...

AI Technical Summary

Problems solved by technology

But this will cause the robot may not be able to detect external collisions in time during this process, which will cause safety problems

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