CN105479490A - Real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots - Google Patents
Real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots Download PDFInfo
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- CN105479490A CN105479490A CN201510992455.0A CN201510992455A CN105479490A CN 105479490 A CN105479490 A CN 105479490A CN 201510992455 A CN201510992455 A CN 201510992455A CN 105479490 A CN105479490 A CN 105479490A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots. The obstacle avoidance device comprises an obstacle avoidance master control module. The obstacle avoidance master control module comprises a position detection module, a collision detection module and a dynamic obstacle avoidance module which are sequentially connected. The position detection module is in communication with motors of dual robot bodies and is used for collecting position information of the dual robot bodies in real time. The collision detection module is used for receiving the position information sent by the position detection module and comparing the position information with the collision safety distance of the dual robot bodies. The dynamic obstacle avoidance module is used for receiving a comparison value of the collision detection module to plan an obstacle avoidance path of the dual robot bodies and send the obstacle avoidance path to motor executers of the dual robot bodies to execute a new obstacle avoidance path. According to the real-time dynamic obstacle avoidance device and obstacle avoidance method of the dual robots, the robot waiting time in the obstacle avoidance process can be shortened, real-time dynamic obstacle avoidance can be achieved, and therefore the work efficiency of the dual robots is improved.
Description
Technical field
The invention belongs to industrial robot control field, more specifically, relate to the real-time dynamic obstacle avoidance device of a kind of dual robot and barrier-avoiding method thereof.
Background technology
At present, that conventional machines people industry uses is all one armed robot, and namely operating position is fixed, and robot end installs corresponding instrument, moves to the work such as operating position is carried accordingly, assembles, welded, polishing.And along with the raising to working (machining) efficiency, in process operation, generally all need the co-operating carrying out multiple robot, and during existing pair of industrial robot collaborative work, each robot is independently controlled by the controller of oneself.In order to prevent collision, when an one armed robot will enter some cooperation regions, collision alarm must be sent in real time to confirm to an other one armed robot, and must exit behind this cooperation region until a robot, an other robot just can enter work, therefore exist in dual robot cooperating process and wait for, cause its operating efficiency to there is very large bottleneck.
Based on the tow-armed robot of intelligent barrier avoiding system, can realize a robot carry, assembling, welding or buffing work-piece time, another robot can carry out process operation at the same area, there is not collision waiting area, meet the multirobot machine collaborative work ability of industrial processes better.
In currently available technology, application number is 201010615758.8, publication number is CN101512453B, name is called that the patent document of " avoiding the method and apparatus collided between industrial robot and object " provides the possibility of robot to prediction of collision, the limitation of this technology embodies and is, can not realize keeping away barrier dynamically, when predicting robot and surrounding objects collides, only signaling to robot by its stop motion, the continuity of two robots collaborative work cannot be ensured; Other one section of application number 201510079471.0, publication number CN104760043A, name is called " a kind of architecture robot controller based on intelligent barrier avoiding system ", this technology solves the collision-free motion planning of tow-armed robot, the limitation that this kind keeps away barrier technique is that robot must work according to the path that off-line programing is planned in advance, can not carry out real time collision detection and dynamic collision free in practical work process.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides the real-time dynamic obstacle avoidance device of a kind of dual robot and barrier-avoiding method thereof, its object is to reduce the robot waits time of keeping away in barrier process, realize real-time dynamic obstacle avoidance, improve track planning of dual robots task efficiency thus.
For achieving the above object, according to one aspect of the present invention, provide a kind of dual robot Real Time Obstacle Avoiding device, it is characterized in that, described obstacle avoidance apparatus comprises keeps away barrier main control module, the barrier communication module that communicates with external equipment and described robot body of main control module and input/output module is kept away described in realization, described barrier main control module of keeping away comprises the position detecting module be connected successively, collision detection module and dynamic obstacle avoidance module, the its communications of described position detecting module and described dual robot body, the positional information of dual robot body described in Real-time Collection, described collision detection module receives the described positional information that described position detecting module sends, and compare with the safe distance that described dual robot body collides, the fiducial value that described dynamic obstacle avoidance module receives described collision detection module carries out the obstacle-avoiding route planning of described dual robot body and is sent in described dual robot body (9, 11) motor driver performs new keeping away and hinders path.
Further, described safe distance is defined as follows: carry out enveloping solid expression to the large arm of described dual robot body, forearm and wrist, be made up of cylinder in the middle of described enveloping solid, the two ends of described enveloping solid are made up of spheroid, and described safe distance is expressed by the size distance of described enveloping solid.
Further, the execution of described obstacle-avoiding route planning can be completed by the described robot body of one of them or jointly be completed by both.
Further, described positional information comprises angle information and angular velocity information.
The invention also discloses a kind of real-time dynamic obstacle avoidance method of dual robot, it is characterized in that, the method comprises the steps:
(1) positional information of described dual robot body is obtained;
(2) judgement the need of keeping away barrier is carried out according to the positional information obtained in described step (1);
(3) if need to keep away barrier after the judgement of described step (2), then carry out new path planning in real time, and send described path planning and perform in described robot body.
Further, the step of keeping away barrier judgement in described step (2) is as follows:
Obtain 2 robots, 6 joint angle angle value separately.These joint angle angle value, determine each robot ' s arm 13, forearm 14 and wrist 15 position in space.According to the large arm 13 of 2 robots, forearm 14 and wrist 15 position in space, the large arm 13 of we calculating robot 1 and the distance D of the large arm 13 of robot 2
1, the large arm 13 of robot 1 and the forearm 14 of robot 2 distance D
2, the large arm 13 of robot 1 and the distance D of the wrist 15 of robot 2
3, the forearm 14 of robot 1 and the distance D of the large arm 13 of robot 2
4, the forearm 14 of robot 1 and the distance D of the forearm 14 of robot 2
5, the forearm 14 of robot 1 and the distance D of the wrist 15 of robot 2
6, the wrist 15 of robot 1 and the distance D of the large arm 13 of robot 2
7, the wrist 15 of robot 1 and the distance D of the forearm 14 of robot 2
8, the wrist 15 of robot 1 and the distance D of the wrist 15 of robot 2
9, the large arm 13 of simultaneous computer device people 1 and the safe distance D of the large arm 13 of robot 2
safe1, the large arm 13 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe2, the large arm 13 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe3, the forearm 14 of robot 1 and the safe distance D of the large arm 13 of robot 2
safe4, the forearm 14 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe5, the forearm 14 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe6, the wrist 15 of robot 1 and the safe distance D of the large arm 13 of robot 2
safe7, the wrist 15 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe8, the wrist 15 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe9.Safe distance equals the radius sum of 2 corresponding enveloping solids.According to D
1and D
safe1, D
2and D
safe2, D
3and D
safe3, D
4and D
safe4, D
5and D
safe5, D
6and D
safe6, D
7and D
safe7, D
8and D
safe8, D
9and D
safe9size judge whether to be about to collision, then perform corresponding step: if D
1>D
safe1, D
2>D
safe2, D
3>D
safe3, D
4>D
safe4, D
5>D
safe5, D
6>D
safe6, D
7>D
safe7, D
8>D
safe8, D
9>D
safe9, then can not collide between 2 robots, 2 robots still run according to original track; Otherwise, be about to collide between 2 robots, such as D
9<=D
safe9, namely the wrist 15 of robot 1 is about to collide with the wrist 15 of robot 2, takes dynamic obstacle avoidance strategy.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial effect:
The invention provides a kind of tow-armed robot control device and the barrier-avoiding method thereof with dynamic obstacle avoidance function, the collisionless path made new advances can be planned in time when 2 robots are about to collide, collision free, instead of stopping robot, maximize the high efficiency, the security that improve dual robot; The advantage of this device is forward-looking, the risk of collision can be detected in advance, enhances the chance detecting and be about to collision.Another one advantage is to realize dynamic obstacle avoidance; Utilize this control device with dynamic obstacle avoidance function directly to control the robot that two possess 6DOF, realize the real-time dynamic obstacle avoidance to robot; And the modularization of this obstacle avoidance apparatus makes it can be applied to all kinds of robot be arranged under same pedestal, and the process operation process that can relate to comprises polishing, assembling, spraying, welding etc., has range of application widely.
Accompanying drawing explanation
Fig. 1 be dynamic obstacle avoidance device and the dual robot realized according to the present invention coordinate scheme of installation;
Fig. 2 is schematic diagram robot being carried out to the generation of profile enveloping solid realized according to the present invention;
Fig. 3 is the schematic diagram that the Liang Ge robot realized according to the present invention carries out reduced outline;
Fig. 4 is the integral module structural representation of the real-time dynamic obstacle avoidance device according to the present invention's realization;
Fig. 5 is the control method schematic flow sheet with the robot of intelligent barrier avoiding function realized according to the present invention.
In all of the figs, identical Reference numeral is used for representing identical element or structure, wherein:
1-position detecting module 2-collision detection module 3-dynamic obstacle avoidance module 4-dynamic obstacle avoidance main control module 5-communication module 6-input/output module 7-motor driver 8-motor 9-first robot body 10-power module 11-second robot body 12-1,12-2-base 13-1,13-2-robot ' s arm 14-1,14-2-robot forearm 15-1,15-2-robot wrist
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
As shown in Figure 1, first how with dual robot, being described of control connection is realized to this obstacle avoidance apparatus, wherein robot 9 and robot 11 form according to the movable joint of robot to simplify dual robot, as shown in Figure 3, input/output module 6 and communication module 5, and the dynamic obstacle avoidance main control module 4 be connected with communication module 5 with input/output module 6, wherein this obstacle avoidance apparatus carries out communicating exporting with robot 11 with Liang Ge robot 9 respectively by input/output module 6 and controls, and communicate with external equipment by communication module 5 and input/output module 6.
As shown in Figure 2, be conventionally in the movable joint of robot to carry out the rough schematic view of robot, described robot comprises two robotic's bodies 9 and 11, motor driver 7, motor 8, described two robotic's bodies possess 6 frees degree respectively, described robot body is made up of the robot possessing 6 frees degree that two are arranged on a pedestal, wherein the free degree comprises base 12, large arm 13, forearm 14, wrist 15 rotates, wrist 15 swings, wrist 15 returns, motor drive module 7 receives the order of controller, drive motors 8 rotates, motor leads to 8 axles crossing machine driving driven machine people basic machine 9 and 11 and rotates, 6DOF industrial robot divides according to structure, base 12 can be divided into, large arm 13, forearm 14, wrist 15 is totally 4 main parts, in this case, to robot ' s arm 13, forearm 14 and wrist 15 all have certain geometry and size, according to these parameters, the large arm 13 of robot, forearm 14 and each personal closed enveloping solid of wrist 15 represent, these enveloping solid two ends are made up of spheroid, centre is made up of cylinder, the radius of cylinder and spheroid is determined according to the geometry of robot, cylinder can represent with its center line, its centre of sphere of spheroid represents, therefore each guard plot just can represent with a line segment, robot is simplified to the line segment of some row, the place that line segment is connected is the joint of robot, as shown in Figure 3.
In motion process, the position of base 12 is fixing, and robot collides and depends on large arm 13, forearm 14, wrist 15 relative position in space, and therefore, robot ' s arm 13, forearm 14 and wrist 15 need to judge whether to collide.Angle A 1 and the A2 in large arm 13 front 2 joints in position and robot in space have relation; angle A 1, A2, the A3 in front 3 joints of forearm 14 position in space and robot have relation; angle A 1, A2, A3, A4, A5, the A6 in wrist 15 6 joints in position and robot in space all have relation; robot ' s arm 13, forearm 14 and wrist 15 all have certain geometry and size, according to the abstract planning carrying out Real Time Obstacle Avoiding of these parameters and above-mentioned robot enveloping solid.
Wherein as shown in Figure 4, it is the integral module structural representation to the real-time dynamic obstacle avoidance device of the dual robot realized according to the present invention, first this Real Time Obstacle Avoiding device comprise respectively with the motor 8-1 of first and second robot, the position detecting module 1 that 8-2 is connected, measure for carrying out real-time detection to the position of the robot body under the driving operation of motor, wherein collision detection module 2 is connected with position detecting module 1, the assessment whether positional information collected position detecting module 1 collides, wherein dynamic obstacle avoidance computing module 3 is connected with collision detection module 2, for the information of Receiving collision detection module 2, and the barrier of keeping away that the motion path of the first and second Liang Ge robots carries out again is planned, wherein position detecting module 1, collision detection module 2 and dynamic obstacle avoidance computing module 3 jointly composition keep away barrier module 4, and communication module 5 carries out information communication by the motor driver 7 keeping away barrier module 4 and first and second robot, motor driver 7-1, 7-2 drive motors 8-1, 8-2 carries out action to the moving line that robot keeps away after barrier programme path, what realize dynamic realtime thus keeps away barrier operation.
Wherein position detecting module 1 passes through the current position of measuring robots and angular speed, judge whether 2 robots collide, if will collide, then start obstacle avoidance algorithm by collision detection module 2, dynamic obstacle avoidance module 3 plans the collisionless path made new advances, and sends to robot; Input/output module 6 allows to receive external command and output state information, and communication module 5 realizes the real-time communication with robot and outside network device, and power module is then for whole barrier equipment of keeping away provides working power.
More specifically implementation, position detecting module 1 comprises angular transducer, angular-rate sensor, and be used for according to the positional information of current robot and velocity information, means are angle and the angular speed in each joint of Real-time Collection;
Collision detection module 2, according to the geometrical model of robot, the positional information of robot and robot are about to the courses of action of not evading collision of carrying out, and judge whether described robot exists collision;
Dynamic obstacle avoidance module 3 planning calculates collisionless path, and this path is transmitted in motor driver 7 by communication module 5 in real time, the path of Liang Ge robot is planned, certainly, in the planning process of reality, the barrier amount of exercise of keeping away of the robot that dynamic obstacle avoidance module 3 calculates is not restricted to Liang Ge robot, only can control keeping away barrier action thus realizing keeping away barrier of one of them robot, and this optionally control carries out control adjustment according to the situation of reality.
Number identical in graphic represents same or analogous assembly.On the other hand, well-known assembly and step are not described in embodiment, to avoid causing unnecessary restriction to the present invention.
As shown in Figure 5, it is the implementation method that the obstacle avoidance apparatus realized according to the present invention carries out keeping away barrier, wherein position detecting module 1 carries out the collection of signal in real time in the process of whole robot, described collision detection module 2, according to the current positional information of the geometrical model of robot and robot 9 and 11 and angular velocity information, judges whether described robot exists collision; Described dynamic obstacle avoidance module 3 plans collisionless path, and sends to driver 7 in real time, is moved by driver module 7 driven machine human body 9 and 11; Input/output module 6 allows accept some external commands and export some status informations simultaneously, and communication module 5 is responsible for carrying out communication with robot and outside network device.
The course of work and the Computing Principle of the real-time dynamic obstacle avoidance device realized according to the present invention are as follows:
In motion process, the position of base 12 is fixing, and robot collides and depends on large arm 13, forearm 14, wrist 15 relative position in space, and therefore, robot ' s arm 13, forearm 14 and wrist 15 need to judge whether to collide.Angle A 1 and the A2 in large arm 13 front 2 joints in position and robot in space have relation; angle A 1, A2, the A3 in front 3 joints of forearm 14 position in space and robot have relation, and angle A 1, A2, A3, A4, A5, the A6 in wrist 15 6 joints in position and robot in space all have relation.。
When dual robot is in same working space work, if do not carry out collision detection to robot and take collision prevention measure, then easily causes colliding between robot, thus robot is produced to the damage being difficult to repair.Therefore, when 2 robots are in same working space collaborative work, need to carry out collision detection to 2 robots, and when being about to collide, dynamic collision prevention motion planning is carried out to 2 robots.
Within an execution cycle of robot, obtain 2 robots, 6 joint angle angle value separately.These joint angle angle value, determine each robot ' s arm 13, forearm 14 and wrist 15 position in space.According to the large arm 13 of 2 robots, forearm 14 and wrist 15 position in space, the large arm 13 of we calculating robot 1 and the distance D of the large arm 13 of robot 2
1, the large arm 13 of robot 1 and the forearm 14 of robot 2 distance D
2, the large arm 13 of robot 1 and the distance D of the wrist 15 of robot 2
3, the forearm 14 of robot 1 and the distance D of the large arm 13 of robot 2
4, the forearm 14 of robot 1 and the distance D of the forearm 14 of robot 2
5, the forearm 14 of robot 1 and the distance D of the wrist 15 of robot 2
6, the wrist 15 of robot 1 and the distance D of the large arm 13 of robot 2
7, the wrist 15 of robot 1 and the distance D of the forearm 14 of robot 2
8, the wrist 15 of robot 1 and the distance D of the wrist 15 of robot 2
9, the large arm 13 of simultaneous computer device people 1 and the safe distance D of the large arm 13 of robot 2
safe1, the large arm 13 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe2, the large arm 13 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe3, the forearm 14 of robot 1 and the safe distance D of the large arm 13 of robot 2
safe4, the forearm 14 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe5, the forearm 14 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe6, the wrist 15 of robot 1 and the safe distance D of the large arm 13 of robot 2
safe7, the wrist 15 of robot 1 and the safe distance D of the forearm 14 of robot 2
safe8, the wrist 15 of robot 1 and the safe distance D of the wrist 15 of robot 2
safe9.Safe distance equals the radius sum of 2 corresponding enveloping solids.According to D
1and D
safe1, D
2and D
safe2, D
3and D
safe3, D
4and D
safe4, D
5and D
safe5, D
6and D
safe6, D
7and D
safe7, D
8and D
safe8, D
9and D
safe9size judge whether to be about to collision, then perform corresponding step: if D
1>D
safe1, D
2>D
safe2, D
3>D
safe3, D
4>D
safe4, D
5>D
safe5, D
6>D
safe6, D
7>D
safe7, D
8>D
safe8, D
9>D
safe9, then can not collide between 2 robots, 2 robots still run according to original track; Otherwise, be about to collide between 2 robots, such as D
9<=D
safe9, namely the wrist 15 of robot 1 is about to collide with the wrist 15 of robot 2, takes dynamic obstacle avoidance strategy.
In the process of robot execution route planning, following three kinds of different schemes can be taked to realize:
(1) 2 robot carries out path planning simultaneously
When path planning is carried out to robot 1, robot 2 is regarded as barrier.According to robot 2 position in space, in conjunction with the target location of robot 1, cook up the angle value in 6 joints of next one execution cycle robot 1; When in like manner path planning being carried out to robot 2, robot 1 is regarded as barrier.According to robot 1 position in space, in conjunction with the target location of robot 2, cook up the angle value in 6 joints of next one execution cycle robot 2.The joint angle angle value of the robot 1 generated above is sent to robot 1, and the joint angle angle value of robot 2 sends to robot 2.Within the next execution cycle, robot 1 and robot 2 perform according to given motion command.Detect according to the current joint angle angle value of 2 robots and angular speed with Time Controller, judge whether to collide, if not, continue to perform original path; If there is the possibility collided, then again perform said method, the path of the next execution cycle inner machine people of planning.
One of them robot in (2) 2 robots carries out path planning
When path planning is carried out to robot 1, robot 2 is regarded as barrier.According to robot 2 position in space, in conjunction with the target location of robot 1, cook up the angle value in 6 joints of next one execution cycle robot 1; When in like manner path planning being carried out to robot 2, robot 1 is regarded as barrier.Or according to robot 1 position in space, in conjunction with the target location of robot 2, cook up the angle value in 6 joints of next one execution cycle robot 2.The joint angle angle value of the robot 1 generated is sent to robot 1, or the joint angle angle value of robot 2 sends to robot 2 above.Within the next execution cycle, robot 1 or robot 2 perform according to given motion command, and each joint angle angle value and angular speed of Real-Time Monitoring, judges whether to collide simultaneously, if not, continue to perform original path; If there is the possibility collided, then again perform said method, the path of the next execution cycle inner machine people of planning.
Certainly, in the process of above-mentioned path planning, in order to keep away in barrier process, the process operation of robot is not stopped, needing to reserve in the time of dynamic obstacle avoidance device reaction to above-mentioned safe distance, the distance that the relative motion of Liang Ge robot produces, therefore, keeping away barrier for realizing better, on the basis of safe distance, preferably carrying out the reservation of safe distance that is kept away the move distance in barrier module reaction time again, can realize thus more reliable and more stable keeping away barrier dynamically in real time.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a dual robot Real Time Obstacle Avoiding device, it is characterized in that, described obstacle avoidance apparatus comprises keeps away barrier main control module (4), barrier main control module (4) and external equipment and described robot body (9 is kept away described in realization, 11) communication module (5) communicated and input/output module (6), described barrier main control module (4) of keeping away comprises the position detecting module (1) be connected successively, collision detection module (2) and dynamic obstacle avoidance module (3), described position detecting module (1) and described dual robot body (9, 11) motor (8) communication, dual robot body (9 described in Real-time Collection, 11) positional information, described collision detection module (2) receives the described positional information that described position detecting module (1) sends, and with described dual robot body (9, 11) safe distance collided compares, the result that described dynamic obstacle avoidance module (3) receives described collision detection module (2) carries out described dual robot body (9, 11) obstacle-avoiding route planning, and described obstacle-avoiding route planning is sent in described dual robot body (9, 11) motor driver (7), drive described dual robot body (9, 11) barrier path is kept away described in execution.
2. dual robot Real Time Obstacle Avoiding device as claimed in claim 1, it is characterized in that, described safe distance is defined as follows: to described dual robot body (9,11) large arm (13), forearm (14) and wrist (15) carry out enveloping solid expression, be made up of cylinder in the middle of described enveloping solid, the two ends of described enveloping solid are made up of spheroid, and described safe distance is expressed by the size distance of described enveloping solid.
3. dual robot Real Time Obstacle Avoiding device as claimed in claim 1 or 2, is characterized in that, the described enveloping solid that described safe distance is dual robot body (9,11) described described in any does not collide superposition.
4. dual robot Real Time Obstacle Avoiding device as claimed in claim 3, it is characterized in that, the execution of described obstacle-avoiding route planning can be completed by the described robot body of one of them or jointly be completed by both.
5. dual robot Real Time Obstacle Avoiding device as claimed in claim 4, it is characterized in that, described positional information comprises angle information and angular velocity information.
6. a real-time dynamic obstacle avoidance method for dual robot, it is characterized in that, the method comprises the steps:
(1) positional information of described dual robot body (9,11) is obtained;
(2) judgement the need of keeping away barrier is carried out according to the positional information obtained in described step (1);
(3) if need to keep away barrier after the judgement of described step (2), then carry out new path planning in real time, and send described path planning and perform in described robot body (9,11).
7. the real-time dynamic obstacle avoidance method of dual robot as claimed in claim 6, it is characterized in that, the implementation of keeping away barrier judgement in described step (2) is as follows: to described dual robot body (9, 11) large arm (13), forearm (14) and wrist (15) carry out enveloping solid expression, be made up of cylinder in the middle of described enveloping solid, the two ends of described enveloping solid are made up of spheroid, described safe distance is dual robot body (9 described described in any, 11) described enveloping solid does not collide superposition, carry out keeping away barrier with described safe distance to judge.
8. the real-time dynamic obstacle avoidance method of dual robot as claimed in claim 7, is characterized in that, keeping away in described step (2) hinders the specific as follows of judgement:
Obtain described dual robot body (9,11) 6 respective joint angle angle value, determine the large arm (13) of each robot, forearm (14) and wrist (15) position in space, calculate the distance D of the described large arm (13-1) of the first robot body (9) and the described large arm (13-2) of the second robot body (11)
1and safe distance D
safe1, the described large arm (13-1) of described first robot body (9) and the described forearm (14-2) of described second robot body (11) distance D
2and safe distance D
safe2, the distance D of the described large arm (13-1) of described first robot body (9) and the described wrist (15-2) of described second robot body (11)
3and safe distance D
safe3, the distance D of the described forearm (14-1) of described first robot body (9) and the described large arm (13-2) of described second robot body (11)
4and safe distance D
safe4, the distance D of the described forearm (14-1) of described first robot body (9) and the described forearm (14-2) of described second robot body (11)
5and safe distance D
safe5, the distance D of the described forearm (14-1) of described first robot body (9) and the described wrist (15-2) of described second robot body (11)
6and safe distance D
safe6, the distance D of the described wrist (15-1) of described first robot body (9) and the described large arm (13-2) of described second robot body (11)
7and safe distance D
safe7, the distance D of the described wrist (15-1) of described first robot body (9) and the described forearm (14-2) of described second robot body (11)
8and safe distance D
safe8, the distance D of the described wrist (15-1) of described first robot body (9) and the described wrist (15-2) of described second robot body (11)
9and safe distance D
safe9, described safe distance equals the radius sum of corresponding 2 enveloping solids, according to described D
1and D
safe1, D
2and D
safe2, D
3and D
safe3, D
4and D
safe4, D
5and D
safe5, D
6and D
safe6, D
7and D
safe7, D
8and D
safe8, D
9and D
safe9size judge whether be about to collision: if D
1>D
safe1, D
2>D
safe2, D
3>D
safe3, D
4>D
safe4, D
5>D
safe5, D
6>D
safe6, D
7>D
safe7, D
8>D
safe8, D
9>D
safe9, then can not collide, still run according to original track; Otherwise, be then about to collide, then perform described step (3).
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| CN (1) | CN105479490A (en) |
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| CN106483889A (en) * | 2016-12-07 | 2017-03-08 | 浙江立镖机器人有限公司 | sorting platform cleaning method and device |
| CN106503373A (en) * | 2016-11-04 | 2017-03-15 | 湘潭大学 | The method for planning track that a kind of Dual-robot coordination based on B-spline curves is assembled |
| CN106956267A (en) * | 2017-05-27 | 2017-07-18 | 上海木爷机器人技术有限公司 | Robot arm barrier-avoiding method and system |
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| CN108058175A (en) * | 2016-11-07 | 2018-05-22 | 林肯环球股份有限公司 | For the system and method and its control method of manufacture |
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| CN108058175A (en) * | 2016-11-07 | 2018-05-22 | 林肯环球股份有限公司 | For the system and method and its control method of manufacture |
| CN106483889B (en) * | 2016-12-07 | 2019-05-10 | 浙江立镖机器人有限公司 | Sort platform cleaning method and device |
| CN106483889A (en) * | 2016-12-07 | 2017-03-08 | 浙江立镖机器人有限公司 | sorting platform cleaning method and device |
| CN108801255B (en) * | 2017-05-04 | 2023-10-27 | 罗伯特·博世有限公司 | Method, device and system for avoiding robot collision |
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| CN113226665A (en) * | 2018-12-21 | 2021-08-06 | 富兰卡爱米卡股份有限公司 | Motion monitoring of robotic manipulators |
| CN109960261A (en) * | 2019-03-22 | 2019-07-02 | 北京理工大学 | A kind of dynamic barrier preventing collision method based on collision detection |
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| CN111474947A (en) * | 2020-05-07 | 2020-07-31 | 北京云迹科技有限公司 | Robot obstacle avoidance method, device and system |
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| US11628568B2 (en) | 2020-12-28 | 2023-04-18 | Industrial Technology Research Institute | Cooperative robotic arm system and homing method thereof |
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| CN112773506A (en) * | 2021-01-27 | 2021-05-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Collision detection method and device for laparoscopic minimally invasive surgery robot |
| CN113580146A (en) * | 2021-08-29 | 2021-11-02 | 浙江工业大学 | Mechanical arm real-time obstacle avoidance method integrating dynamic system and model predictive control |
| CN113580146B (en) * | 2021-08-29 | 2022-08-05 | 浙江工业大学 | Mechanical arm real-time obstacle avoidance method integrating dynamic system and model predictive control |
| CN113985807A (en) * | 2021-09-06 | 2022-01-28 | 武汉科技大学 | Laser cladding head anti-collision obstacle avoidance control system and method |
| CN113985807B (en) * | 2021-09-06 | 2023-12-26 | 武汉科技大学 | Cladding head anti-collision obstacle avoidance control system and method for laser cladding |
| CN114528737A (en) * | 2022-02-21 | 2022-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Configuration evaluation method and device for endoscopic surgery robot |
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