CN107813345B - Robot collision detection method and device - Google Patents
Robot collision detection method and device Download PDFInfo
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- CN107813345B CN107813345B CN201711217374.9A CN201711217374A CN107813345B CN 107813345 B CN107813345 B CN 107813345B CN 201711217374 A CN201711217374 A CN 201711217374A CN 107813345 B CN107813345 B CN 107813345B
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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
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention provides a robot collision detection method and a device, which relate to the field of industrial robots, and the robot collision detection method comprises the following steps: acquiring target parameter information of the robot; acquiring external observation torque borne by the robot according to the target parameter information; and when the absolute value of the external observation moment is larger than the collision threshold corresponding to the target parameter information, judging that the robot is about to collide, and controlling the robot to stop moving. According to the method, the external observation torque borne by the robot is obtained according to the target parameter information, the absolute value of the external observation torque is compared with the collision threshold corresponding to the target parameter information, the motion state of the robot is controlled according to the comparison result so as to avoid collision, and the robot collision detection can be realized without a sensor.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a robot collision detection method and device.
Background
The robot has good man-machine cooperation performance and wide application prospect. However, during the operation process of the robot, the robot often collides with surrounding objects, causing damage to the robot and damage to the collided objects. In order to avoid collision between the robot and the surrounding objects, it is necessary to provide a collision detection method. At present, the common collision detection methods mainly include a collision detection method based on path planning and a collision detection method based on a force sensor.
The collision detection method based on path planning has strict requirements on environment, and as the number of basic elements is increased, the calculated amount is increased geometrically, so that the problems of reduction of collision detection efficiency, algorithm crash and the like can be caused; therefore, a collision detection method based on a force sensor is mostly adopted in engineering application.
However, the inventor finds that the collision detection method based on the force sensor needs to additionally add a sensor, so that the collision detection cost is increased, and the structure of the robot needs to be changed, so that the operation is inconvenient.
Disclosure of Invention
Therefore, it is necessary to provide a method and an apparatus for detecting robot collision, aiming at the problem of inconvenient operation caused by the need of additionally adding sensors for detecting robot collision.
The embodiment of the invention provides a robot collision detection method on the one hand, which comprises the following steps:
acquiring target parameter information of the robot;
acquiring external observation torque borne by the robot according to the target parameter information;
and when the absolute value of the external observation moment is larger than the collision threshold corresponding to the target parameter information, judging that the robot is about to collide, and controlling the robot to stop moving.
In one embodiment, the target parameter information includes output torque related information, friction torque related information, and external observation torque related information;
the step of obtaining the external observation moment borne by the robot according to the target parameter information comprises the following steps:
acquiring output torque of motors of joints of the robot according to the output torque related information;
inputting the relevant information of the friction torque into a pre-established friction model to obtain the friction torque applied to each joint of the robot;
and obtaining the external observation torque applied to the robot according to the external observation torque related information, the output torque and the friction torque.
In one embodiment, the step of obtaining the output torque of each joint motor of the robot according to the output torque related information includes:
and inputting the relevant information of the output torque into a pre-established dynamic model of each joint motor to obtain the output torque of each joint motor of the robot.
In one embodiment, the step of obtaining the external observation torque applied to the robot according to the information related to the external observation torque, the output torque, and the friction torque includes:
and inputting the relevant information of the external observation torque, the output torque and the friction torque into a pre-established external torque observer to obtain the external observation torque applied to the robot.
In one embodiment, before the process of controlling the robot to stop moving, when the absolute value of the external observed moment is greater than the collision threshold corresponding to the target parameter information, it is determined that the robot is about to collide, the method further includes:
and carrying out anti-interference treatment on the external observation torque.
In one embodiment, the friction torque related information includes joint angular velocity;
the collision threshold value and the joint rotation angle angular speed are in a functional relation; when the absolute value of the joint angular velocity is greater than or equal to a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is less than the preset joint angular velocity threshold, the collision threshold increases with the decrease of the absolute value of the joint angular velocity.
A robot collision detecting device comprising:
the parameter acquiring unit is used for acquiring target parameter information of the robot;
the external observation torque acquisition unit is used for acquiring the external observation torque borne by the robot according to the target parameter information;
and the control unit is used for judging that the robot is about to collide when the absolute value of the external observation moment is larger than a collision threshold corresponding to the target parameter information, and controlling the robot to stop moving.
A robot comprises a motion mechanism, an information acquisition device and a control device;
the information acquisition device is used for acquiring target parameter information of the robot and sending the target parameter information to the control device;
the control device is used for obtaining the external observation torque borne by the robot according to the target parameter information and controlling the movement mechanism to stop moving when the absolute value of the external observation torque is larger than the collision threshold corresponding to the target parameter information.
A computer device comprising a memory, a processor, said memory having stored thereon a computer program operable on said processor, said processor implementing the above-mentioned robot collision detection method when executing said computer program.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the robot collision detection method described above.
The embodiment of the invention acquires the external observation torque borne by each joint of the robot by collecting the parameter information of each target of the robot, compares the external observation torque with a set dynamic threshold, and judges that the robot is about to collide when the external observation torque is greater than the set dynamic threshold, and controls the robot to stop moving; according to the embodiment of the invention, the external observation torque is obtained according to the target parameters, the collision detection of the robot can be realized without adding an external sensor, the detection cost is reduced, and the operation is convenient.
Drawings
FIG. 1 is a first flowchart of an embodiment of a robot collision detection method according to the present invention;
FIG. 2 is a second flowchart of an embodiment of a robot collision detection method according to the present invention;
FIG. 3 is a first schematic diagram of a collision threshold value in an embodiment of a robot collision detection method of the present invention;
FIG. 4 is a second schematic diagram of a collision threshold in an embodiment of a robot collision detection method of the invention;
FIG. 5 is a third flowchart of an embodiment of a robot collision detection method according to the present invention;
FIG. 6 is a fourth flowchart illustrating a robot collision detection method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a first configuration of an embodiment of a robot collision detecting device according to the present invention;
FIG. 8 is a second schematic diagram of a collision detecting apparatus for a robot according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Unless defined otherwise, all technical and scientific terms used in the examples herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the embodiments of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the embodiments of the present specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, which is a schematic flow chart of an embodiment of the robot collision detection method of the present invention, the robot collision detection method includes:
s1: and acquiring target parameter information of the robot.
S3: and obtaining the external observation torque applied to the robot according to the target parameter information.
The target parameter information is parameter information required for performing collision detection, and the target parameter information should be understood as current parameter information of the robot because the collision detection is real-time detection. For example, the target parameter information may include the angle, angular velocity, output current information, etc. of each joint motion of the robot, may also include driver signal information, etc., and may also include the rated performance parameters of the robot itself, such as the rated rotational inertia of the rotor at the motor end of the robot, etc., and the target parameter information may be obtained by a robot parameter identification method without an external sensor. It should be noted that the target parameter information may include the above-mentioned types of target parameter information, but is not limited to the above-mentioned types of target parameter information, and all parameters used for solving the technical problem of the present invention belong to the category of the above-mentioned target parameter information.
In one embodiment, referring to fig. 2, the target parameter information includes output torque related information, friction torque related information, and external observation torque related information; the step of obtaining the external observation moment borne by the robot according to the target parameter information comprises the following steps:
s31: and obtaining the output torque of each joint motor of the robot according to the relevant information of the output torque.
Wherein, the output torque related information refers to parameters related to the output torque of each joint motor of the robot.
In one embodiment, the output torque related information comprises a driver signal. The step of obtaining the output torque of each joint motor of the robot according to the output torque related information may include: and directly acquiring the output torque of each joint motor of the robot according to the driver signal.
Specifically, the driver signals are collected first, the driver signals are converted into recognizable data information, and the current output torque of each joint motor is extracted from the converted data information.
In one embodiment, the step of obtaining the output torque of each joint motor of the robot according to the output torque related information comprises:
and inputting the relevant information of the output torque into a pre-established dynamic model of each joint motor to obtain the output torque of each joint motor of the robot.
The pre-established dynamic model of each joint motor is an equation which is established according to the dynamic principle and relates to the relevant information of the output torque. Specifically, the information related to the output torque is input into the pre-established dynamic model of each joint motor, and the processing module inside the robot may solve the output torque of each joint motor of the robot according to the dynamic model of each joint motor.
Optionally, the output torque related information may include: tau ise、ia、KT、Jm、Bm、
And
wherein tau iseIs the field moment of the motor, KTIs an electromagnetic moment constant, JmIs the rotational inertia of the rotor at the motor end, BmIn order to be a damping constant, the damping device,
respectively the angular velocity and the angular acceleration of the motor rotor.
The pre-established dynamic model of each joint motor may be:
wherein, taumFor the output torque of each joint motor, τeThe armature current i can be obtained directly from the driver signal oraCalculated by armature current iaThe process of computing acquisition may be: obtaining the angular speed of the motor rotor by obtaining the return value of the motor encoder
And angular acceleration
And collects armature current i of the motoraAccording to the kinetic equation τe＝KTiaIs calculated to obtain taueWill tau beeSubstitution into kinetic equations
In the method, the output torque tau of each joint motor at present is calculatedm。
S32: and inputting the relevant information of the friction torque into a pre-established friction model to obtain the friction torque applied to each joint of the robot.
The friction torque related information refers to parameters related to friction torque borne by each joint of the robot. The pre-established friction model is a preset friction model according to an application scene and the like, and can be an equation about friction torque related information, and the acquired friction torque related information is substituted into the friction model to obtain the friction torque applied to each joint of the robot.
Specifically, a proper friction model is selected, and a robot working principle is combined, so that the friction model is pre-established, and the friction model reflects the relationship between friction force borne by each joint in the motion process and parameters such as joint corner angular velocity. And substituting the relevant information of the friction torque into a pre-established friction model to obtain the friction torque applied to each joint.
In a low-speed state, friction links and the like have large influence on a system, and large static friction force easily causes false detection.
In one embodiment, the friction torque related information includes z, σ0、σ1、σ2、Fc、FS、
λ、
Wherein f is the friction torque applied to each joint. z is the mean deformation of the contact surface bristles, σ0Is coefficient of friction rigidity, σ1As coefficient of friction damping, σ2Is a viscous coefficient of friction, FcIs the Coulomb friction torque, FSIn order to maximize the static friction moment,
is the Stribeck velocity, λ is the coefficient of friction,
joint angular velocity.
The pre-established friction model may be:
the Stribeck speed is obtained by acquiring joint position information and an actual torque value of the robot in the motion process and performing data processing. Specifically, a LuGre friction model of the friction torque f borne by each current joint is established, the value of each parameter is obtained according to the obtained target parameter information, the known parameters are substituted into the LuGre friction model, and f is obtained through calculation.
The LuGre friction model selected by the embodiment covers the phenomena of Coulomb friction, pre-sliding, friction hysteresis and the like, is closer to the real friction phenomenon, and can reflect the magnitude of the friction torque applied to each joint of the robot more truly so as to more accurately detect the collision of the robot.
It should be noted that the friction torque f currently borne by each joint may also be calculated according to other dynamic friction force models. For example, the friction torque f may be calculated according to Dahl, Leuven, or the like model.
S33: and obtaining the external observation torque applied to the robot according to the external observation torque related information, the output torque and the friction torque.
The external observation torque related information refers to parameters related to the external observation torque applied to the robot, and the external observation torque applied to the robot can be obtained according to the external observation torque related information.
In one embodiment, the step of obtaining the external observation torque applied to the robot according to the information related to the external observation torque, the output torque, and the friction torque includes:
and inputting the relevant information of the external observation torque, the output torque and the friction torque into a pre-established external torque observer to obtain the external observation torque applied to the robot.
The external moment observer established in advance can be established according to the kinetic energy conservation theorem and the robot dynamics principle, and can be an equation about external observation moment related information, output moment and friction moment.
In one embodiment, the externally observed torque related information comprises: n, τ, M (q),
G(q)、τextQ, where τextFor being subjected to external observation torque
N is the reduction ratio of the robot, tau is the control moment borne by the robot joint, M (q) is the inertia matrix of the robot,
g (q) is the gravitational moment; q is a joint corner;
the process of establishing the pre-established external torque observer may include:
establishing a robot dynamic model about external observation torque related information, output torque and friction torque:
according to a robot dynamic model, establishing an external torque observer:
wherein the content of the first and second substances,
for an observer of the external torque, K1、K2All are system gain matrices and are positive definite matrices; p is the momentum of the system and,
m (q) inertia matrix passing robotAnd identifying and obtaining the parameters.
Optionally, according to the robot dynamic model, the external moment observer pre-established may also be:
where K3 is the system gain matrix.
The obtained external observation torque related information and output torque taumSubstituting the sum friction torque f into a pre-established external torque observer to obtain an external observation torque tauext。
S5: and when the absolute value of the external observation moment is larger than the collision threshold corresponding to the target parameter information, judging that the robot is about to collide, and controlling the robot to stop moving.
The collision threshold is set according to the application scene of the robot, and the collision threshold is increased as the absolute value of the angular velocity of the joint of the robot is reduced. For example, when the angular velocity of the joint of the robot is low, a large collision threshold value is set, when the angular velocity of the joint of the robot exceeds a certain joint angular velocity threshold value, a certain low constant collision threshold value can be set, and by setting the collision threshold value, the condition of missed detection during low-speed operation of the robot is avoided, wherein the joint angular velocity threshold value is obtained through experiments.
Specifically, the obtained absolute value of the external observation moment is compared with a collision threshold corresponding to the target parameter information, and if the absolute value of the external observation moment is larger than the collision threshold corresponding to the target parameter information, the robot is controlled to stop moving. For example, when the absolute value of the external observation moment is detected to be larger than the collision threshold corresponding to the target parameter information, the robot is determined to be about to collide, a motion stopping command is sent to the control device, and the control device controls the robot to stop moving according to the received motion stopping command, so that the robot is prevented from being damaged or a collided object is prevented from being damaged due to collision.
In one embodiment, the friction torque related information includes joint angular velocity;
the collision threshold value and the joint rotation angle angular speed are in a functional relation; when the absolute value of the joint angular velocity is greater than a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is less than the preset joint angular velocity threshold, the collision threshold increases with the decrease of the absolute value of the joint angular velocity.
The joint angular velocity threshold value and the first preset value are values set according to an application scene and are obtained through experiments. Specifically, the relationship between the collision threshold and the absolute value of the joint rotational angular velocity may be: and when the absolute value of the joint angular velocity is greater than a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is less than the joint angular velocity threshold, the collision threshold is increased from the first preset value along with the decrease of the absolute value of the joint angular velocity. Optionally, when the joint rotation angular velocity approaches 0, the collision threshold converges to a second preset value, where the second preset value is greater than the first preset value.
In one embodiment, referring to fig. 3, the collision threshold extraction model for the first preset value and the second preset value may be:
wherein, taua、τbIs preset according to application scene requirements, tauaAt a second predetermined value, τbIs a first preset value, ωsA preset joint angular velocity threshold value;
according to angular velocity of joint
Absolute value of (d) and joint angular velocity threshold omegasThe collision threshold corresponding to the target parameter can be obtained.
In one embodiment, as shown in fig. 4, the collision threshold selection model with respect to the first preset value and the second preset value may further be:
wherein, taua、τbCritical threshold value, omega, preset according to application scenario requirementssA preset joint angular velocity threshold value;
according to angular velocity of joint
Absolute value of (d) and joint angular velocity threshold omegasThe collision threshold is obtained.
Optionally, the collision threshold selection model may also be a collision threshold selection model which is established according to a high-order function method and is related to a joint angular velocity threshold, and is according to a joint corner angular velocity
Absolute value of (d) and joint angular velocity threshold omegasThe dynamic threshold value is set according to the size relationship of (1).
The embodiment of the invention considers that when the joint rotation speed is slow, the system is greatly influenced by friction, tooth clearance and the like, the friction torque is converted into dynamic friction along with the increase of the joint rotation speed, the influence of the tooth clearance is weakened, a collision threshold value is set, when the joint rotation speed is slow, a larger collision threshold value is set, and when the joint rotation speed is increased to a higher speed, a smaller collision threshold value is set, so that the occurrence of false detection in the collision detection in a low-speed state is avoided, and the false detection rate is reduced.
In one embodiment, referring to fig. 5 and 6, before the process of obtaining the external observation torque applied to the robot according to the target parameter information, the method further includes the following steps:
s2: and performing anti-interference processing on the target parameter information.
The anti-interference processing modes are various and optional, and the acquired target parameter information is subjected to filtering processing and is used as a data basis for collision detection. For example, a data acquisition module in the robot acquires target parameter information and sends the acquired target parameter information to a processor in the robot, and after receiving the target parameter information, the processor filters the target parameter information and uses the filtered target parameter information as a data basis in a collision detection process.
In one embodiment, referring to fig. 5 and 6, before the process of controlling the robot to stop moving, when the absolute value of the external observed torque is greater than the collision threshold corresponding to the target parameter information, it is determined that the robot is about to collide, the process further includes the steps of:
s4: and carrying out anti-interference treatment on the external observation torque.
Because the robot may have high-frequency sampling noise when gathering target parameter information, can influence the value of outside observation moment, cause the system false retrieval, so carry out anti-interference processing to outside observation moment, avoid influencing collision detection's accuracy because of other sampling noise, reduce collision detection false retrieval rate. Alternatively, the low-pass filtering process may be performed on the external observation torque.
Specifically, the target parameter information is the same as the definition of the target parameter information, and is not described herein again.
Referring to fig. 7, which is a schematic structural diagram of an embodiment of the robot collision detection apparatus of the present invention, the robot collision detection apparatus includes:
a parameter obtaining unit 710 for obtaining target parameter information of the robot;
the external observation torque acquisition unit 730 is used for acquiring the external observation torque applied to the robot according to the target parameter information;
and the control unit 750 is used for judging that the robot is about to collide when the absolute value of the external observation moment is larger than the collision threshold corresponding to the target parameter information, and controlling the robot to stop moving.
Specifically, the parameter obtaining unit 710 obtains target information of the robot, optionally, the target information may be obtained according to a robot parameter identification manner or a manner directly obtained from a driver, and the obtained target parameter information is sent to the external observation torque obtaining unit 730, the external observation torque obtaining unit 730 obtains an external observation torque applied to the robot according to the target parameter information, and may be a pre-established external observation torque observer, and the external observation torque obtaining unit 730 inputs the target parameter information into the pre-established external observation torque observer to obtain the external observation torque applied to the robot; the external observation torque obtaining unit 730 sends the obtained external observation torque to the control unit 750, the control unit 750 compares the absolute value of the external observation torque with the collision threshold corresponding to the target parameter information, when the absolute value of the external observation torque is greater than the collision threshold corresponding to the target parameter information, it is determined that the robot is about to collide, and the control unit 750 controls the robot to stop moving.
In one embodiment, referring to fig. 8, the target parameter information includes output torque related information, friction torque related information, and external observation torque related information;
the external observation torque acquisition unit includes:
the first processing unit 731 is configured to obtain output torque of each joint motor of the robot according to the output torque related information;
the second processing unit 732 is configured to input friction torque related information into a pre-established friction model to obtain friction torque applied to each joint of the robot;
the third processing unit 733, configured to obtain an external observation torque applied to the robot according to the external observation torque related information, the output torque, and the friction torque.
In one embodiment, referring to fig. 8, the robot collision detecting device further includes:
a first filtering unit 720, configured to filter the target parameter information.
In one embodiment, referring to fig. 8, the robot collision detecting device further includes:
and a second filtering unit 740, configured to perform filtering processing on the external observation torque.
It should be noted that each unit module of the robot can correspondingly implement the corresponding flow steps in the embodiment of the robot collision detection method, and the explanations of each term in the corresponding embodiment of the robot collision detection method are also applicable to the embodiment of the apparatus, and are not repeated herein.
An embodiment of the present invention further provides a robot, as shown in fig. 9, the robot includes a movement mechanism 920, an information collecting device 940, and a control device 960;
the information collecting device 940 is used for acquiring target parameter information of the robot and sending the target parameter information to the control device 960;
the control device 960 is configured to obtain an external observation torque applied to the robot according to the target parameter information, and control the moving mechanism to stop moving when an absolute value of the external observation torque is greater than a collision threshold corresponding to the target parameter information.
Specifically, the information acquisition device 940 obtains target parameter information of the robot and sends the target parameter information to the control device 960, the control device 960 obtains an external observation moment according to the received target parameter information, the method for obtaining the external observation moment is the same as the embodiment of the robot collision detection method, and details are not repeated here, the control device 960 determines whether an absolute value of the external observation moment is greater than a preset collision threshold corresponding to the target parameter, if so, the robot is considered to collide, and the control device 960 controls the movement mechanism 920 of the robot to stop moving.
It should be noted that the specific functional implementation manner of each component in the robot embodiment may be the same as that in the robot collision detection method, and is not described herein again.
The embodiment of the invention also provides computer equipment, which comprises a memory and a processor, wherein the memory is stored with a computer program capable of running on the processor, and the processor executes the computer program to realize the robot collision detection method.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of the above-mentioned robot collision detection method embodiment.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. Further, the program stored in one storage medium is generally executed by directly reading the program out of the storage medium or by installing or copying the program into a storage device (such as a hard disk and or a memory) of the data processing device. Such a storage medium therefore also constitutes the present invention. The storage medium may use any type of recording means, such as a paper storage medium (e.g., paper tape, etc.), a magnetic storage medium (e.g., a flexible disk, a hard disk, a flash memory, etc.), an optical storage medium (e.g., a CD-ROM, etc.), a magneto-optical storage medium (e.g., an MO, etc.), and the like.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot collision detection method, comprising the steps of:
acquiring target parameter information of the robot;
acquiring external observation torque borne by the robot according to the target parameter information;
when the absolute value of the external observation torque is larger than a collision threshold value corresponding to the target parameter information, judging that the robot is about to collide, and controlling the robot to stop moving, wherein the target parameter information comprises friction torque related information which comprises joint corner angular velocity, the collision threshold value is a dynamic collision threshold value, and the collision threshold value and the joint corner angular velocity are in a functional relation; when the absolute value of the joint angular velocity is greater than or equal to a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is smaller than the preset joint angular velocity threshold, the collision threshold is increased along with the reduction of the absolute value of the joint angular velocity;
when the joint rotation angle angular velocity approaches 0, the collision threshold value converges to a second preset value, wherein the second preset value is larger than the first preset value;
the selection model of the first preset value and the second preset value is as follows:
wherein, tauaIs the second preset value, τbIs the first preset value, ωsAnd the preset joint angular velocity threshold value is obtained.
2. The robot collision detection method according to claim 1, wherein the target parameter information includes output torque-related information, friction torque-related information, and external observation torque-related information;
the step of obtaining the external observation moment borne by the robot according to the target parameter information comprises the following steps:
acquiring output torque of motors of joints of the robot according to the output torque related information;
inputting the relevant information of the friction torque into a pre-established friction model to obtain the friction torque applied to each joint of the robot;
and obtaining the external observation torque applied to the robot according to the external observation torque related information, the output torque and the friction torque.
3. The robot collision detection method according to claim 2, wherein the step of obtaining the output torque of each joint motor of the robot based on the output torque-related information includes:
and inputting the relevant information of the output torque into a pre-established dynamic model of each joint motor to obtain the output torque of each joint motor of the robot.
4. The robot collision detection method according to claim 2 or 3, wherein the step of obtaining the external observation torque applied to the robot based on the information related to the external observation torque, the output torque, and the friction torque includes:
and inputting the relevant information of the external observation torque, the output torque and the friction torque into a pre-established external torque observer to obtain the external observation torque applied to the robot.
5. The robot collision detection method according to claim 4, wherein it is determined that the robot is about to collide when the absolute value of the external observed moment is larger than the collision threshold corresponding to the target parameter information, and the process of controlling the robot to stop moving further comprises the steps of:
and carrying out anti-interference treatment on the external observation torque.
6. The robot collision detection method according to claim 3, wherein the output torque-related information includes: tau ise、ia、KT、Jm、Bm、
And
wherein tau iseIs the field moment of the motor iaIs armature current, KTIs an electromagnetic moment constant, JmFor the rotor of the motorMoment of inertia, BmIn order to be a damping constant, the damping device,
the angular velocity and the angular acceleration of the motor rotor are respectively;
the pre-established dynamic model of each joint motor is as follows:
wherein, taumThe output torque of each joint motor.
7. A robot collision detecting device characterized by comprising:
the parameter acquiring unit is used for acquiring target parameter information of the robot;
the external observation torque acquisition unit is used for acquiring the external observation torque borne by the robot according to the target parameter information;
the control unit is used for judging that the robot is about to collide and controlling the robot to stop moving when the absolute value of the external observation torque is larger than a collision threshold corresponding to the target parameter information, the target parameter information comprises friction torque related information, the friction torque related information comprises joint corner angular velocity, the collision threshold is a dynamic collision threshold, and the collision threshold and the joint corner angular velocity are in a functional relation; when the absolute value of the joint angular velocity is greater than or equal to a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is smaller than the preset joint angular velocity threshold, the collision threshold is increased along with the reduction of the absolute value of the joint angular velocity;
when the joint rotation angle angular velocity approaches 0, the collision threshold value converges to a second preset value, wherein the second preset value is larger than the first preset value;
the selection model of the first preset value and the second preset value is as follows:
wherein, tauaIs the second preset value, τbIs the first preset value, ωsAnd the preset joint angular velocity threshold value is obtained.
8. A robot is characterized by comprising a motion mechanism, an information acquisition device and a control device;
the information acquisition device is used for acquiring target parameter information of the robot and sending the target parameter information to the control device;
the control device is used for acquiring external observation torque borne by the robot according to the target parameter information and controlling the movement mechanism to stop moving when the absolute value of the external observation torque is greater than a collision threshold corresponding to the target parameter information;
the target parameter information comprises friction torque related information, and the friction torque related information comprises joint corner angular velocity; the collision threshold is a dynamic collision threshold, and the collision threshold and the joint corner angular velocity are in a functional relation; when the absolute value of the joint angular velocity is greater than or equal to a preset joint angular velocity threshold, the collision threshold is a first preset value, and when the absolute value of the joint angular velocity is smaller than the preset joint angular velocity threshold, the collision threshold is increased along with the reduction of the absolute value of the joint angular velocity;
when the joint rotation angle angular velocity approaches 0, the collision threshold value converges to a second preset value, wherein the second preset value is larger than the first preset value;
the selection model of the first preset value and the second preset value is as follows:
wherein, tauaIs the second preset value, τbIs the first preset value, ωsAnd the preset joint angular velocity threshold value is obtained.
9. A computer arrangement comprising a memory, a processor, a computer program being stored on the memory and being executable on the processor, the processor implementing the robot collision detection method according to any of claims 1-6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the robot collision detection method according to any one of claims 1-6.
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| CN108748158A (en) * | 2018-06-12 | 2018-11-06 | 上海节卡机器人科技有限公司 | Cooperate robot, collision detecting system and method, storage medium, operating system |
| CN109079800A (en) * | 2018-10-29 | 2018-12-25 | 珠海格力智能装备有限公司 | Robot collision checking method, device, storage medium, processor and robot |
| CN109732599B (en) * | 2018-12-29 | 2020-11-03 | 深圳市越疆科技有限公司 | Robot collision detection method and device, storage medium and robot |
| WO2020147078A1 (en) * | 2019-01-17 | 2020-07-23 | 西门子股份公司 | Robot collision detection system and method, and robot comprising system |
| CN110340885B (en) * | 2019-05-21 | 2021-12-07 | 南京航空航天大学 | Industrial robot collision detection method based on energy deviation observer |
| CN110103222A (en) * | 2019-05-24 | 2019-08-09 | 北京无线电测量研究所 | A kind of industrial robot collision checking method |
| CN112486080A (en) * | 2019-09-12 | 2021-03-12 | 苏州宝时得电动工具有限公司 | Outdoor robot and control method thereof |
| CN110774317B (en) * | 2019-11-26 | 2020-11-06 | 上海节卡机器人科技有限公司 | Method and device for establishing linear relation model and detecting collision and electronic equipment |
| CN111113488B (en) * | 2019-12-30 | 2022-06-14 | 南京埃斯顿自动化股份有限公司 | Robot collision detection device and method |
| CN112092015B (en) * | 2020-09-10 | 2022-02-01 | 中科新松有限公司 | Robot collision detection test method |
| CN112405524B (en) * | 2020-10-20 | 2022-11-11 | 深圳拓邦股份有限公司 | Robot collision detection method and device and robot |
| CN112757345A (en) * | 2021-01-27 | 2021-05-07 | 上海节卡机器人科技有限公司 | Cooperative robot collision detection method, device, medium and electronic equipment |
| CN113319853B (en) * | 2021-06-18 | 2022-11-22 | 广东智源机器人科技有限公司 | Robot control method, device, electronic equipment and robot system |
| CN114012734B (en) * | 2021-12-03 | 2023-05-30 | 西安交通大学 | Parameter-adaptive robot collision detection method |
| CN115107009A (en) * | 2021-12-23 | 2022-09-27 | 沈阳新松机器人自动化股份有限公司 | Intelligent control method for collision protection of cleaning robot |
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