CN108247654A - A kind of control method of robot, device and system - Google Patents
A kind of control method of robot, device and system Download PDFInfo
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- CN108247654A CN108247654A CN201810111000.7A CN201810111000A CN108247654A CN 108247654 A CN108247654 A CN 108247654A CN 201810111000 A CN201810111000 A CN 201810111000A CN 108247654 A CN108247654 A CN 108247654A
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- joint
- robot
- torque
- output torque
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Abstract
The invention discloses a kind of control method of robot, device and system, this method includes：The actual current value that current sensor detects target motor is obtained, and the actual output torque of the target motor is calculated according to the actual current value；Position, angular speed and the angular acceleration of target joint are obtained, and the theoretical output torque of the target motor is calculated according to the position of the target joint, angular speed and angular acceleration；Wherein, the target joint is the joint of mechanical arm controlled in the robot by the target motor；Calculate the difference between the actual output torque and the theoretical output torque；If the difference is more than torque difference threshold value, robot is controlled to perform the action of security protection.The embodiment of the present application can just make robot actively trigger the action of security protection in the case where determining that robot collides, and so as to avoid collision the injury to operating personnel, while also avoid collision damage robot in itself.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of control method of robot, device and system.
Background technology
With the development of robot technology, robot has been able to be applied to many different fields at present.In many tools
In the field for having the operations requirement such as high flexibility ratio, high flexibility, since robot is also difficult to meet such operation requirement at present, because
This, robot usually requires to cooperate jointly in the same space with operating personnel.For example, in industries such as medicine, video, logistics
In, usual industrial robot with operating personnel can cooperate and complete work together.It cooperates jointly with operating personnel in robot
In the process, since the two is in the same space, robot is likely to collide operating personnel.This collision is likely to injure
To operating personnel, while it is also likely to that robot can be damaged in itself.
Invention content
The technical problem to be solved by the invention is to provide a kind of control method of robot, device and system, so that
Robot can be triggered the action of security protection in the case where colliding, so as to avoid collision the wound to operating personnel
Evil, while also avoid collision damage robot in itself.
In a first aspect, in order to solve the above technical problems, the present invention provides a kind of control method of robot, this method packet
It includes：
The actual current value that current sensor detects target motor is obtained, and institute is calculated according to the actual current value
State the actual output torque of target motor；
Obtain target joint position, angular speed and angular acceleration, and according to the position of the target joint, angular speed and
Angular acceleration calculates the theoretical output torque of the target motor；Wherein, the target joint is described in the robot
The joint of mechanical arm of target motor control；
Calculate the difference between the actual output torque and the theoretical output torque；
If the difference is more than torque difference threshold value, robot is controlled to perform the action of security protection.
Optionally, the actual output torque is specially the moment coefficient of the actual current value and the target motor
Product.
Optionally, the theoretical output torque includes inertia, coriolis force and the centrifugal force of the target joint, Coulomb friction
Power, viscous friction and torque caused by gravity；
Torque caused by the inertia of the target joint is determined by the position and angular acceleration of the target joint；
Position and angular speed of the torque by the target joint caused by the coriolis force and centrifugal force of the target joint
It determines；
Torque caused by the Coulomb friction power of the target joint is determined by the angular speed of the target joint；
Torque is determined by the angular speed of the target joint caused by the viscous friction of the target joint；
Torque caused by the gravity of the target joint by the target joint location determination.
Optionally, the angular speed of the target joint and angular acceleration are poor by the position progress to the target joint
Divide and filter what is obtained.
Optionally, the control method of the robot further includes：
In advance in response to the user's operation of setting threshold value, using the numerical value indicated by the user's operation as the torque difference
Threshold value.
Optionally, the user's operation is specially that the operation of a numerical value is selected in preset multiple optional numerical value,
The user's operation is used to indicate the numerical value that will be selected as the torque difference threshold value.
Optionally, the action of the security protection is the state into stop motion.
Optionally, the action of the security protection is specially that joint of mechanical arm all in the robot enter stopping
The state of movement；
Wherein, the target joint is any one joint of mechanical arm in the robot.
Second aspect, in order to solve the above technical problems, the present invention provides a kind of control device of robot, the device packet
It includes：
First acquisition unit, for obtaining the actual current value that current sensor detects target motor；
First computing unit, for calculating the actual output torque of the target motor according to the actual current value；
Second acquisition unit, for obtaining the position of target joint, angular speed and angular acceleration；Wherein, the target is closed
Section is the joint of mechanical arm controlled in the robot by the target motor；
Second computing unit calculates the target for position, angular speed and the angular acceleration according to the target joint
The theoretical output torque of motor；
Third computing unit, for calculating the difference between the actual output torque and the theoretical output torque；
Control unit if being more than torque difference threshold value for the difference, controls robot to perform the action of security protection.
The third aspect, in order to solve the above technical problems, the present invention provides a kind of control system of robot, the system packet
It includes：
Controller, current sensor, encoder, driver and brake actuators；
The controller, the actual current value detected for obtaining current sensor to target motor and according to the reality
Border current value calculates the actual output torque of the target motor, obtains position, angular speed and the angular acceleration of target joint simultaneously
The theoretical output torque of the target motor is calculated according to the position of the target joint, angular speed and angular acceleration, calculates institute
The difference between actual output torque and the theoretical output torque is stated, to the drive if the difference is more than torque difference threshold value
Dynamic device sends the first control instruction and/or sends the second control instruction to the brake actuators；
The current sensor, for carrying out current detecting to the target motor of the robot, to obtain actual current
It is worth and sends the controller to；
The encoder is detected for the location information to target joint, with obtain the position of the target motor,
Angular speed and angular acceleration simultaneously send the controller to；Wherein, the target joint is by the target in the robot
The joint of mechanical arm of motor control；
The driver, for according to first control instruction, control robot to perform the action of security protection；
The brake actuators, for according to second control instruction, control robot to perform the action of security protection.
Compared with prior art, the present invention has the following advantages：
In embodiments of the present invention, for the joint of mechanical arm and its motor in robot, by comparing by the motor
The actual output torque that actual current value calculates and the theoretical output torque gone out by the positional information calculation in the joint, can be true
Determine whether robot is collided, in this way, in the case where determining that robot collides just robot can actively touched
The action of security protection is sent out, so as to avoid collision the injury to operating personnel, while also avoids collision damage robot in itself.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or it will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is robot product schematic diagram provided by the embodiments of the present application；
The schematic diagram of Fig. 2 mechanical arm bodies provided by the embodiments of the present application；
Fig. 3 is the flow chart of the control method of robot provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of the control method of robot provided by the embodiments of the present application；
Fig. 5 is the flow chart of a certain joint of mechanical arm of control robot provided by the embodiments of the present application；
Fig. 6 is the schematic diagram of the control device of robot provided by the embodiments of the present application；
Fig. 7 is the schematic diagram of the control system of robot provided by the embodiments of the present application.
Specific embodiment
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only this
Apply for part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
All other embodiments obtained under the premise of creative work are not made, shall fall in the protection scope of this application.
Inventor has found that usual industrial robot with operating personnel can cooperate and complete work together, for example,
In industries such as medicine, logistics.During robot cooperates jointly with operating personnel, since the two is in the same space, machine
Device people is likely to collide operating personnel.This collision is likely to hurt operating personnel, while be also likely to damage
Robot is in itself.
Based on this, in embodiments of the present invention, the control method and device of a kind of robot are provided, by calculating target
The actual output torque of joint of mechanical arm and the difference of theoretical output torque of motor control, when the difference is more than torque difference threshold
During value, it is believed that robot is collided, and robot is controlled to perform the action of security protection when robot collides, so as to
Robot is avoided to hurt operating personnel, also avoids robot self-inflicted injury.
As shown in Figure 1, the figure is robot product schematic diagram provided by the embodiments of the present application, the present embodiments relate to
Product includes：One mechanical arm body, a switch board and a teaching machine.
As shown in Fig. 2, the figure is the schematic diagram of mechanical arm body provided in an embodiment of the present invention.Robot body imitates people
Arm, share 6 rotary joints, each joint represents one degree of freedom.Joint of robot includes pedestal (joint 1), shoulder
(joint 2), ancon (joint 3), wrist 1 (joint 4), wrist 2 (joint 5), wrist 3 (joint 6).Pedestal is used for robot body
It is connected with pedestal, tool ends end connect for robot with tool.Arm is used between shoulder and ancon and between ancon and wrist
Pipe connects.Each articulation can be controlled, moves robot tool by teaching machine operation interface or dragging teaching, user
To different poses.
Below in conjunction with the accompanying drawings, by embodiment come in the present invention will be described in detail embodiment the control method of robot it is specific
Realization method.
Illustrative methods
Referring to Fig. 3, which is the flow chart of the control method of robot provided in this embodiment.Machine provided in this embodiment
The control method of device people, includes the following steps：
S301：The actual current value that current sensor detects target motor is obtained, and according to the actual current value
Calculate the actual output torque of the target motor.
It is understood that when manipulator motion, the driving moment that each joint motions need is carried by corresponding motor
For the motor that driving moment is provided for each joint motions is usually direct current torque motor.And the reality output of direct current torque motor
Torque is proportional with electric current, and specifically, the actual output torque is the actual current value and the target motor
The product of moment coefficient, i.e. τreal=Ki, wherein, τrealRepresent the actual output torque, K represents turning for the target motor
Moment coefficient, i represent the actual current value.
It should be noted that the target motor has corresponding current sensor and controller, electric current can be passed through
Sensor obtains the actual current value of the target motor, and the actual current value of the target motor is sent to by current sensor
Controller, controller obtain the actual output torque of the target motor by calculating.
S302：Position, angular speed and the angular acceleration of target joint are obtained, and according to the position of the target joint, angle
Speed and angular acceleration calculate the theoretical output torque of the target motor；Wherein, the target joint is in the robot
The joint of mechanical arm controlled by the target motor.
It should be noted that mechanical arm is during exercise, the target joint of target motor control might have certain angle speed
Degree and angular acceleration, such as with certain angular speed and angular acceleration when wrist 3 (joint 6) rotates.Target joint
Angular speed and angular acceleration are the influence factors of the theoretical output torque of the target motor.In addition to this, the target joint
Position be also the target motor theoretical output torque an influence factor.
It should be noted that the target motor is calculated according to the position of the target joint, angular speed and angular acceleration
Theoretical output torque, inertia, coriolis force and the centrifugal force of the theoretical output torque including the target joint, Coulomb friction
Power, viscous friction and torque caused by gravity.Specifically：
Formula (1) is illustrated below, it is assumed that the joint number of robot is N, in formula (1)：
τ represents the theoretical output torque.
Q represents each joint position vector, is the vector of N × 1.
It is the vector of N × 1 for each joint velocity vector.
For each joint angle vector acceleration, be N × 1 vector.
The torque that inertia for the target joint generates, the torque that the inertia of the target joint generates by
The position of the target joint and angular acceleration determine.
For torque caused by the coriolis force and centrifugal force of the target joint, the coriolis force of the target joint
With centrifugal force caused by torque determined by the position and angular speed of the target joint.Wherein,Coriolis for N × N
Power and centrifugal force matrix.
For torque caused by the Coulomb friction power of the target joint, caused by the Coulomb friction power
Torque is determined by the angular speed of the target joint.Wherein, FSFor the coulomb friction matrix of N × N,For withTo become certainly
The sign function of amount.
FVFor torque caused by the viscous friction of the target joint, torque is by institute caused by the target joint
The angular speed for stating target joint confirms.Wherein, FVViscous friction matrix for N × N.
G (q) be the target joint gravity caused by torque, torque caused by the gravity of the target joint by
The angular speed of the target joint determines.Wherein, G (q) is the gravity vector of N × 1.
It should be noted that the target motor has corresponding encoder, can the mesh be obtained according to encoder
The position of the target joint of motor control is marked, the position of the target joint is carried out to can obtain the mesh after difference, filtering
Mark the angular speed and angular acceleration in joint.Position, angular speed and the angular acceleration that encoder obtains the target motor later can
The position of the target motor, angular speed and angular acceleration are sent to controller, the target motor is calculated by controller
Theoretical output torque.
It should be noted that not limiting the sequence that performs of S301 and S302 in the present embodiment, S301 can be after S302
It performs, S301 can also be performed simultaneously with S302.
S303：Calculate the difference between the actual output torque and theoretical output torque.
It is understood that controller can pass through after obtaining the actual output torque and the theoretical output torque
Calculate the difference obtained between the actual output torque and theoretical output torque.
S304：If the difference is more than torque difference threshold value, robot is controlled to perform the action of security protection.
It is understood that the torque difference threshold value can be actual output torque in robot security's working range
With the maximum value of the deviation of theoretical output torque.
It should be noted that the torque difference threshold value can be that user is pre-set.During specific implementation, in advance in response to
The user's operation of threshold value is set, using the numerical value indicated by the user's operation as the torque difference threshold value.
In a kind of possible embodiment, the user's operation can be specially to be selected in preset multiple optional numerical value
The operation of a numerical value is taken out, the user's operation user instruction is using the numerical value selected as the torque difference threshold value.
It is understood that the application scenarios of robot are different, the requirement to safety is also different, so can be machine
People sets safe class, and each grade is provided with corresponding torque difference threshold value.User can be according to the practical application field of robot
Requirement of the scape to safety selects corresponding torque difference threshold value.
It should be noted that the security protection action referred in the present embodiment is the state into stop motion.
It is understood that there is multiple joints in mechanical arm body, each joint is likely to collide, and causes described
The actual output torque of the corresponding motor in joint and the difference of theoretical output torque are more than the torque difference threshold value, in the present embodiment
In, when any one joint of mechanical arm collides in mechanical arm body, the action of the security protection is specially the machine
The upper all joint of mechanical arm of people enter the state of stop motion.So as to effectively avoid collision the injury to operating personnel,
Damage robot is also effectively avoided collision simultaneously in itself.
It should be noted that the corresponding target motor of each target joint has corresponding driver and brake in the present embodiment
Driver.Wherein, driver is the driving circuit section of the target motor, and driver can drive the motor to work,
The motor can be controlled to be stopped.Brake actuators are the brakes of joint of mechanical arm, are divided into locking and unclamp two states,
The joint of mechanical arm can enter stop working state in a short time during brake locking.
The execution of the action of the security protection referred in the present embodiment can be by driver and/or brake actuators Lai complete
Into.When controller judge the difference be more than torque difference threshold value when, can to the driver send the first control instruction and/or
Brake actuators send the second control instruction.Driver controls the target motor to stop after receiving first control instruction
Work, so as to which control machinery shoulder joint enters the state of stop motion.Brake actuators receive second control instruction it
Afterwards, brake enters locking state, so as to which control machinery shoulder joint enters the state of stop motion.
The control method of the robot of the application offer is provided below in conjunction with concrete scene.
Referring to Fig. 4, which is the schematic diagram of the control method of robot provided by the embodiments of the present application.
Referring to Fig. 5, which is the flow chart of a certain joint of mechanical arm of control robot provided by the embodiments of the present application.
S501：Micro-control unit (Microcontroller Unit, MCU) is worked by driver driving motor, machinery
Shoulder joint enters working condition.
Wherein, driver is the driving circuit section of motor, is made of metal-oxide-semiconductor and metal-oxide-semiconductor driving, driver can drive
The motor work, can also control the motor to be stopped.
Wherein, MCU is mainly responsible for the driving of motor and is communicated with controller by amperometry plate, by the shape of motor
State information is uploaded to controller.
Wherein, amperometry plate is mainly responsible for the communication between MCU and control panel.
S502：Encoder A and encoder B obtains position, angular speed and the angular acceleration of joint of mechanical arm, and passes through MCU
The position of the joint of mechanical arm, angular speed and angular acceleration are sent to controller with amperometry plate.
It should be noted that encoder A is absolute encoder, the absolute location information of joint of mechanical arm can be obtained.It compiles
Code device B is incremental encoder, can obtain the information such as relative position information and speed, the acceleration of motor.With reference to encoder A
Position, angular speed and then the angular acceleration information of the joint of mechanical arm can be obtained with encoder B.
It is understood that encoder A and encoder B can also be integrated into an encoder.
Encoder A and encoder B can be an encoder, or multiple encoders.Function is as above.
S503：Current sensor detects the actual current value of motor, and the actual current value is passed through MCU and electric current point
Analysis plate is sent to controller.
S504：Controller calculates the actual output torque and theoretical output torque of motor, and calculates the reality output power
The difference of square and the theoretical output torque.
S505：Judge that the difference is more than the torque difference threshold value, brake actuators is controlled to enter locking shape by MCU
State, so as to control machinery shoulder joint stop motion.
It should be noted that encoder A, encoder B, driver, brake actuators, current sensor shown in Fig. 4
A motor driving plate can be integrated into.
The control method of robot provided in this embodiment for the joint of mechanical arm and its motor in robot, passes through
Compare the actual output torque calculated by the actual current value of the motor and the theory gone out by the positional information calculation in the joint
Output torque, it may be determined that whether robot is collided, in this way, in the case where determining that robot collides
Robot is made actively to trigger the action of security protection, so as to avoid collision the injury to operating personnel, while also avoids collision damage
Bad robot itself.
Exemplary means
Based on the control method of robot provided by the embodiments of the present application, the application also provides a kind of control dress of robot
It puts, referring to Fig. 6, which is the schematic diagram of the control device of robot provided by the embodiments of the present application, machine provided in this embodiment
The control device of device people, including：
First acquisition unit 610, the first computing unit 620, second acquisition unit 630, the second computing unit 640, third
Computing unit 650 and control unit 660.
The first acquisition unit 610, for obtaining the actual current value that current sensor detects target motor.
First computing unit 620, for calculating the reality output of the target motor according to the actual current value
Torque.
Optionally, the actual output torque is specially the moment coefficient of the actual current value and the target motor
Product.
The second acquisition unit 630, for obtaining the position of target joint, angular speed and angular acceleration；Wherein, it is described
Target joint is the joint of mechanical arm controlled in the robot by the target motor.
Optionally, the angular speed of the target joint and angular acceleration are poor by the position progress to the target joint
Divide and filter what is obtained.
Second computing unit 640 calculates institute for position, angular speed and the angular acceleration according to the target joint
State the theoretical output torque of target motor.
Optionally, the theoretical output torque includes inertia, coriolis force and the centrifugal force of the target joint, Coulomb friction
Power, viscous friction and torque caused by gravity；
Torque caused by the inertia of the target joint is determined by the position and angular acceleration of the target joint；
Position and angular speed of the torque by the target joint caused by the coriolis force and centrifugal force of the target joint
It determines；
Torque caused by the Coulomb friction power of the target joint is determined by the angular speed of the target joint；
Torque is determined by the angular speed of the target joint caused by the viscous friction of the target joint；
Torque caused by the gravity of the target joint by the target joint location determination.
The third computing unit 650, for calculating between the actual output torque and the theoretical output torque
Difference.
Described control unit 660 if being more than torque difference threshold value for the difference, controls robot to perform security protection
Action.
Optionally, the action of the security protection is the state into stop motion.
Optionally, the action of the security protection is specially that joint of mechanical arm all in the robot enter stopping
The state of movement；Wherein, the target joint is any one joint of mechanical arm in the robot.
Optionally, described device further includes threshold setting unit.
The threshold setting unit is used for：In advance in response to the user's operation of setting threshold value, by user's operation meaning
The numerical value shown is as the torque difference threshold value.
Optionally, the user's operation is specially that the operation of a numerical value is selected in preset multiple optional numerical value,
The user's operation is used to indicate the numerical value that will be selected as the torque difference threshold value.
The control device of robot provided in this embodiment for the joint of mechanical arm and its motor in robot, passes through
Compare the actual output torque calculated by the actual current value of the motor and the theory gone out by the positional information calculation in the joint
Output torque, it may be determined that whether robot is collided, in this way, in the case where determining that robot collides
Robot is made actively to trigger the action of security protection, so as to avoid collision the injury to operating personnel, while also avoids collision damage
Bad robot itself.
Exemplary system
Control method and device based on robot provided by the embodiments of the present application, the application also provide a kind of robot
Control system, referring to Fig. 7, which is the schematic diagram of the control system of robot provided by the embodiments of the present application, and the present embodiment carries
The control system of the robot of confession, including：
Controller 710, current sensor 720, encoder 730, driver 740 and brake actuators 750.
The controller 710, the actual current value detected for obtaining current sensor to target motor and according to institute
The actual output torque that actual current value calculates the target motor is stated, position, angular speed and the angle for obtaining target joint accelerate
Spend and calculated according to the position of the target joint, angular speed and angular acceleration the theoretical output torque of the target motor, meter
The difference between the actual output torque and the theoretical output torque is calculated, to institute if the difference is more than torque difference threshold value
Driver is stated to send the first control instruction and/or send the second control instruction to the brake actuators.
The current sensor 720, for carrying out current detecting to the target motor of the robot, to obtain practical electricity
Flow valuve simultaneously sends the controller to.
The encoder 730, is detected for the location information to target joint, to obtain the position of the target motor
It puts, angular speed and angular acceleration and send the controller to；Wherein, the target joint is by the mesh in the robot
Mark the joint of mechanical arm of motor control.
The driver 740, for according to first control instruction, control robot to perform the action of security protection.
The brake actuators 750, for according to.Second control instruction, control robot perform security protection
Action.
The control system of robot provided in this embodiment for the joint of mechanical arm and its motor in robot, passes through
Compare the actual output torque calculated by the actual current value of the motor and the theory gone out by the positional information calculation in the joint
Output torque, it may be determined that whether robot is collided, in this way, in the case where determining that robot collides
Robot is made actively to trigger the action of security protection, so as to avoid collision the injury to operating personnel, while also avoids collision damage
Bad robot itself.
It should be noted that herein, the relationship of such as " first acquisition unit " and " second acquisition unit " or the like
Term is used merely to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying
There are any actual relationship or orders between these entities or operation.Term " comprising ", "comprising" or its is any
Other variants are intended to non-exclusive inclusion, so that process, method, article or equipment including a series of elements
Not only include those elements, but also including other elements that are not explicitly listed or further include as this process, side
Method, article or the intrinsic element of equipment.In the absence of more restrictions, limited by sentence "including a ..."
Element, it is not excluded that also there are other identical elements in the process, method, article or apparatus that includes the element.
For device embodiment, since it corresponds essentially to embodiment of the method, so related part is referring to method reality
Apply the part explanation of example.System embodiment described above is only schematical, wherein described be used as separating component
The unit of explanation may or may not be physically separate, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place or can also be distributed in multiple network element.It can be according to reality
It needs that some or all of module therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not
In the case of making the creative labor, you can to understand and implement.
The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of the application principle is not departed from, several improvements and modifications can also be made, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (10)
1. a kind of control method of robot, which is characterized in that including：
The actual current value that current sensor detects target motor is obtained, and the mesh is calculated according to the actual current value
Mark the actual output torque of motor；
Position, angular speed and the angular acceleration of target joint are obtained, and is added according to the position of the target joint, angular speed and angle
Speed calculates the theoretical output torque of the target motor；Wherein, the target joint is by the target in the robot
The joint of mechanical arm of motor control；
Calculate the difference between the actual output torque and the theoretical output torque；
If the difference is more than torque difference threshold value, robot is controlled to perform the action of security protection.
2. according to the method described in claim 1, it is characterized in that, the actual output torque is specially the actual current value
Moment coefficient with the target motor is as obtained from non-linear multiplication.
3. according to the method described in claim 1, it is characterized in that, the theoretical output torque includes the used of the target joint
Amount, coriolis force and centrifugal force, Coulomb friction power, viscous friction and torque caused by gravity；
Torque caused by the inertia of the target joint is determined by the target joint angular acceleration；
Torque is determined by the position and angular speed of the target joint caused by the coriolis force and centrifugal force of the target joint；
Torque caused by the Coulomb friction power of the target joint is determined by the angular speed of the target joint；
Torque is determined by the angular speed of the target joint caused by the viscous friction of the target joint；
Torque caused by the gravity of the target joint by the target joint location determination.
4. according to the method described in claim 1, it is characterized in that, the angular speed of the target joint is by the target
The position in joint carries out difference and filtering obtains, the angular acceleration of the target joint to the angular speed of the target joint into
What row difference and filtering obtained.
5. it according to the method described in claim 1, it is characterized in that, further includes：
In advance in response to the user's operation of setting threshold value, using the numerical value indicated by the user's operation as the torque difference threshold
Value.
6. according to the method described in claim 5, it is characterized in that, the user's operation is specially in preset multiple optional numbers
The operation of a numerical value is selected in value, the user's operation is used to indicate the numerical value that will be selected as the torque difference threshold
Value.
7. according to the method described in claim 1, it is characterized in that, the action of the security protection is the shape into stop motion
State.
8. the method according to the description of claim 7 is characterized in that the action of the security protection is specially in the robot
All joint of mechanical arm enter the state of stop motion；
Wherein, the target joint is any one joint of mechanical arm in the robot.
9. a kind of control device of robot, which is characterized in that including：
First acquisition unit, for obtaining the actual current value that current sensor detects target motor；
First computing unit, for calculating the actual output torque of the target motor according to the actual current value；
Second acquisition unit, for obtaining the position of target joint, angular speed and angular acceleration；Wherein, the target joint is
The joint of mechanical arm controlled in the robot by the target motor；
Second computing unit calculates the target motor for position, angular speed and the angular acceleration according to the target joint
Theoretical output torque；
Third computing unit, for calculating the difference between the actual output torque and the theoretical output torque；
Control unit if being more than torque difference threshold value for the difference, controls robot to perform the action of security protection.
10. a kind of control system of robot, which is characterized in that including controller, current sensor, encoder, driver and
Brake actuators；
The current sensor, for carrying out current detecting to the target motor of the robot, to obtain actual current value simultaneously
Send the controller to；
The encoder is detected for the location information to target joint, to obtain the position of the target motor, angle speed
Degree and angular acceleration simultaneously send the controller to；Wherein, the target joint is by the target motor in the robot
The joint of mechanical arm of control；
The controller, the actual current value detected for obtaining current sensor to target motor and according to the practical electricity
Flow valuve calculates the actual output torque of the target motor, obtains position, angular speed and the angular acceleration and basis of target joint
Position, angular speed and the angular acceleration of the target joint calculate the theoretical output torque of the target motor, calculate the reality
Difference between border output torque and the theoretical output torque, to the driver if the difference is more than torque difference threshold value
It sends the first control instruction and/or sends the second control instruction to the brake actuators；
The driver, for according to first control instruction, control robot to perform the action of security protection；
The brake actuators, for according to second control instruction, control robot to perform the action of security protection.
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