CN108582070A - robot collision detecting system and method, storage medium, operating system - Google Patents
robot collision detecting system and method, storage medium, operating system Download PDFInfo
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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
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- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
A kind of robot collision detecting system of disclosure of the invention and method, storage medium, operating system, wherein collision detecting system includes：Movement instruction module, for carrying out motion control to robot；Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves kinetics equation according to the characteristic of robot；Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；Prediction of collision module, for according to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, prediction collision external force, point of force application and crash type.The present invention is based on the collision detections of electric current loop feedback can reduce the complexity and cost of robot architecture, by detecting whether machine man-hour collides with user, the safety of user when effective guarantee robot works with user collaborative.
Description
Technical field
The present invention relates to industrial robot control technology fields, and in particular to a kind of robot collision detecting system and side
Method, storage medium, operating system.
Background technology
Currently, robot needs to complete many tasks with user's cooperation, user can enter the work of robot regularly
Range.In this generic task, robot needs to detect whether to be collided with user, and is eliminated and touched using suitable strategy
It hits, to ensure the safety of user.
It is found through retrieval, the Chinese patent literature of Publication No. CN103192413A discloses a kind of machine of no sensor
People's collision detection protective device and method can detect whether robot collides with user in the case of no force snesor.
When a collision occurs, controller makes robot stop motion to eliminate collision, but the device comes with some shortcomings：It cannot be distinguished and touch
The type hit；Collision energy release is not rapid enough；It can not adapt to the variation of load.
Invention content
The purpose of the present invention is to provide a kind of robot collision detecting system and method, storage medium, operating system, bases
The complexity and cost of robot architecture can be reduced in the collision detection of electric current loop feedback, by whether detecting machine man-hour
It collides with user, the safety of user when effective guarantee robot works with user collaborative.
In order to achieve the above object, the invention is realized by the following technical scheme：A kind of robot collision detecting system is fitted
For robot, the robot includes several joints, and a motor is arranged in each joint position, its main feature is that, collision inspection
Examining system includes：
Movement instruction module, for carrying out motion control to robot；
Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves power according to the characteristic of robot
Learn equation；
Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；
Prediction of collision module, for position data, the speed data according to robot dynamics' equation, each joint of robot
With torque data, prediction collision external force, point of force application and crash type.
In said program, a collision cancellation module is further included, the collision cancellation module is according to outside the collision of prediction
Power, point of force application and crash type obtain corresponding strategy, and adjust the motor pattern of robot, to eliminate impact force.
In said program, in artificial four shaft industrial robot of the machine, six-shaft industrial robot and cooperation robot
It is a kind of.
In said program, the movement instruction module includes：
Each axis of robot is set as mode position by mode setting unit；
Soft position-limiting unit, each shaft position of setting robot, speed and torque threshold；
Trajectory planning unit cooks up the geometric locus in each joint of robot according to the desired whole story point of robot.
In said program, the dynamics module includes：
Modeling unit carries out kinetic model using Lagrangian method according to the characteristic of robot to robot system
Modeling obtains connecting rods power model and joint-friction power model；
Identification unit recognizes link parameters according to connecting rods power model using CAD methods；According to joint-friction power mould
Type recognizes friction characteristics parameter using track motivational techniques；
Computing unit solves kinetics equation according to link parameters and friction characteristics parameter using parsing-symbolic method.
In said program, the feedback of status module includes：
Position acquisition unit obtains joint position according to the absolute type encoder of motor tail portion；
Joint position is carried out difference and obtains joint velocity by speed acquiring unit；
Torque acquiring unit calculates current of electric and obtains joint moment.
In said program, the prediction of collision module includes：
Computing unit is loaded, load information is determined using CAD methods；
Impact force estimation unit, according to electric current loop feedback and kinetic model, by momentum observer estimate robot with
The collision torque of user；
Point of impingement detection unit judges the connecting rod number to collide according to collision torque；
Feature identification unit is collided, the frequency domain character of robot and user's contact force is sought by frequency-domain analysis method；
Crash type recognition unit obtains crash type according to frequency domain character.
In said program, the load information includes quality, barycenter and the inertial tensor parameter of load.
In said program, the collision cancellation module includes：
Retarded motion unit, the movement velocity for controlling robot slow down；
Stop motion unit, the movement for controlling robot stop；
Resistive exercise unit, control robot are in power control traction mode, counter motion are carried out, to eliminate impact force.
The embodiment of the present invention additionally provides a kind of robot collision checking method, its main feature is that, it comprises the steps of：
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve dynamics side
Journey；
Step S2, position data, speed data and the torque data in each joint of robot are obtained；
Step S3, according to robot dynamics' equation, the position data in each joint of robot, speed data and torque number
According to prediction collision external force, point of force application and crash type.
In said program, also include comprising step a S0, the step S0 before the step S1：
Each axis of robot is set as mode position；
Set each shaft position of robot, speed and torque threshold；
The geometric locus in each joint of robot is cooked up according to the desired whole story point of robot.
In said program, also include comprising step a S4, the step S4 after the step S3：
According to collision external force, point of force application and the crash type of prediction, corresponding strategy is obtained, and adjusts the fortune of robot
Dynamic model formula, to eliminate impact force.
In said program, the step S1 includes：
According to the characteristic of robot, Dynamics Model is carried out to robot system using Lagrangian method, is obtained
Connecting rods power model and joint-friction power model；
According to connecting rods power model, link parameters are recognized using CAD methods；According to joint-friction power model, using rail
Mark motivational techniques recognize friction characteristics parameter；
According to link parameters and friction characteristics parameter, kinetics equation is solved using parsing-symbolic method.
In said program, the step S2 includes：
Joint position is obtained according to the absolute type encoder of motor tail portion；
Joint position is subjected to difference and obtains joint velocity；
It calculates current of electric and obtains joint moment.
In said program, the step S3 includes：
Load information is determined using CAD methods；
According to electric current loop feedback and kinetic model, the collision torque of robot and user is estimated by momentum observer；
According to collision torque, the connecting rod number to collide is judged；
The frequency domain character of robot and user's contact force is sought by frequency-domain analysis method；
According to frequency domain character, crash type is obtained.
In said program, the load information includes quality, barycenter and the inertial tensor parameter of load.
The embodiment of the present invention additionally provides a kind of storage medium, is stored thereon with computer program, the computer program quilt
Processor realizes above-mentioned method when executing.
The embodiment of the present invention additionally provides a kind of operating system, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor realize above-mentioned method when executing the computer program.
A kind of robot collision detecting system of the present invention and method, storage medium, operating system have compared with prior art
It has the advantage that：
Present invention combination electric current loop feedback, Dynamic Models of Robot Manipulators, momentum observer and frequency-domain analysis technology predict machine
Whether collide between device people and user, collision is eliminated by suitable strategy, and ensure machine task efficiency；
Crash type can be distinguished, in practical application some of robot and user contacts belong to normal phenomenon, if by these
Also it is included into collision, machine task efficiency can be reduced, present invention combination frequency-domain analysis technology can efficiently identify machine
Normally contacting and collision, hoisting machine task efficiency between people and user；
Different collision dispelling tactics are selected according to impact force, according to the impact force size between robot and user, control
The suitable collision dispelling tactics of device selection, have achieved the purpose that both to protect the secure robot working efficiency of user security；
The variation of robot load is adapted to, the present invention considers the kinetic characteristics of load, when robot end's load changes
When change, only quality, barycenter and inertial tensor parameter need to be exported by CAD methods.
Description of the drawings
Fig. 1 is the structural schematic diagram of robot collision detecting system according to an embodiment of the invention；
Fig. 2 is the flow chart of robot collision checking method according to an embodiment of the invention；
Fig. 3 is a kind of hardware architecture diagram of the operating system of the embodiment of the present invention.
Specific implementation mode
Embodying the embodiment of feature of present invention and advantage will in detail describe in the explanation of back segment.It should be understood that the present invention
Can have various variations in different examples, neither depart from the scope of the present invention, and it is therein explanation and be shown in
Substantially regard purposes of discussion, rather than to limit the present invention.
An embodiment of the present invention provides a kind of robot collision detecting systems.Fig. 1 is machine according to an embodiment of the invention
The structural schematic diagram of device people's collision detecting system, as shown in Figure 1, the robot collision detecting system, is suitable for robot 10, institute
It includes several joints to state robot 10, and a motor is arranged in each joint position, which includes：Movement instruction mould
Block 100, for carrying out motion control to robot；Dynamics module 200, according to the characteristic of robot, to robot into action
Mechanical modeling and System Discrimination solve kinetics equation；Feedback of status module 300, the position for obtaining each joint of robot
Data, speed data and torque data；Prediction of collision module 400, for according to robot dynamics' equation, each joint of robot
Position data, speed data and torque data, prediction collision external force, point of force application and crash type.
In some embodiments of the invention, it is preferable that the robot collision detecting system also includes that a collision disappears
Except module 500, the collision cancellation module 500 obtains corresponding according to collision external force, point of force application and the crash type of prediction
Strategy, and the motor pattern of robot is adjusted, to eliminate impact force.
In embodiments of the present invention, as an example, the robot 10 is four shaft industrial robots, six-shaft industrial machine
Device people and cooperation robot in one kind.
In embodiments of the present invention, as an implementation, the movement instruction module 100 includes：Pattern setting is single
Member 101, is set as mode position by each axis of robot；Soft position-limiting unit 102, each shaft position of setting robot, speed and torque
Threshold value；Trajectory planning unit 103 cooks up the geometric locus in each joint of robot according to the desired whole story point of robot.
In embodiments of the present invention, as an implementation, the dynamics module 200 includes：Modeling unit 201,
According to the characteristic of robot, Dynamics Model is carried out to robot system using Lagrangian method, obtains connecting rods power
Learn model and joint-friction power model；Identification unit 202, according to connecting rods power model, using CAD methods identification connecting rod ginseng
Number；According to joint-friction power model, friction characteristics parameter is recognized using track motivational techniques；Computing unit 203, according to connecting rod
Parameter and friction characteristics parameter solve kinetics equation using parsing-symbolic method.
In embodiments of the present invention, as one embodiment, parsing-symbolic method can effectively improve model computational efficiency.
In embodiments of the present invention, as an implementation, the feedback of status module 300 includes：Position acquisition list
Member 301 obtains joint position according to the absolute type encoder of motor tail portion；Speed acquiring unit 302, it is poor that joint position is carried out
It separately wins and takes joint velocity；Torque acquiring unit 303 calculates current of electric and obtains joint moment.
In embodiments of the present invention, as an implementation, the prediction of collision module 400 includes：Load calculates single
Member 401, load information is determined using CAD methods；Impact force estimation unit 402 leads to according to electric current loop feedback and kinetic model
Overshoot observer estimates the collision torque of robot and user；Point of impingement detection unit 403 judges to send out according to collision torque
The connecting rod number of raw collision；Feature identification unit 404 is collided, the frequency of robot and user's contact force is sought by frequency-domain analysis method
Characteristic of field；Crash type recognition unit 405 obtains crash type according to frequency domain character.
In embodiments of the present invention, as a kind of specific example, the load information includes the quality loaded, barycenter and is used to
Property tensor parameter.
In embodiments of the present invention, as a kind of specific example, load computing unit 401 passes through software emulation and finite element
Analysis determines quality, barycenter and the inertial tensor matrix of load.
In embodiments of the present invention, as an implementation, the collision cancellation module 500 includes：Retarded motion list
Member 501, the movement velocity for controlling robot slows down；Stop motion unit 502, the movement for controlling robot stop；Resistive exercise
Unit 503, control robot are in power control traction mode, counter motion are carried out, to eliminate impact force.
The embodiment of the present invention also provides a kind of robot collision checking method, and the robot suitable for above-described embodiment touches
Hit detecting system.Fig. 2 is the flow chart of robot collision checking method according to an embodiment of the invention, as shown in Fig. 2,
This method includes：
Step S0, the parameters of robot are set.
Specifically, including by each axis of robot it is set as mode position；Set each shaft position of robot, speed and torque threshold
Value；The geometric locus in each joint of robot is cooked up according to the desired whole story point of robot.
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve dynamics side
Journey.
Specifically, including according to the characteristic of robot, kinetic simulation is carried out to robot system using Lagrangian method
Type models, and obtains connecting rods power model and joint-friction power model；According to connecting rods power model, recognized using CAD methods
Link parameters；According to joint-friction power model, friction characteristics parameter is recognized using track motivational techniques；According to link parameters and
Friction characteristics parameter solves kinetics equation using parsing-symbolic method.
Wherein, connecting rods power model is expressed as：
Joint-friction power model is expressed as：
In formula, τm,τextIndicating joint moment and collision torque, M (q) is inertia force matrix,Represent centrifugal force and
The relevant matrix of Coriolis force, g (q) are gravitational moment matrix, τFIndicate that moment of friction, B are the coefficient of viscosity of frictional force,Indicate coulomb friction.
Step S2, position data, speed data and the torque data in each joint of robot are obtained.
Specifically, including：Joint position is obtained according to the absolute type encoder of motor tail portion；Joint position is subjected to difference
Obtain joint velocity；It calculates current of electric and obtains joint moment.
Step S3, according to robot dynamics' equation, the position data in each joint of robot, speed data and torque number
According to prediction collision external force, point of force application and crash type.
Specifically, including：Load information is determined using CAD methods；According to electric current loop feedback and kinetic model, pass through punching
Discharge observation device estimates the collision torque of robot and user；According to collision torque, the connecting rod number to collide is judged；Pass through frequency domain
Analysis method seeks the frequency domain character of robot and user's contact force；According to frequency domain character, crash type is obtained.
In embodiments of the present invention, as a kind of specific example, the load information includes the quality loaded, barycenter and is used to
Property tensor parameter.
Wherein, momentum observer is expressed as：
In formula, KIFor gain coefficient, p (t) is generalized impulse, and r (t) is the collision torque of estimation.
Collision torque is expressed as r (t),
R (t)=[* ... * * 0...0]T
In embodiments of the present invention, as a kind of specific example, point of impingement submodule is according to member in collision torque r (t) (4)
The connecting rod number that the position judgment of element 0 collides.
In embodiments of the present invention, as a kind of specific example, robot is sought by frequency-domain analysis method and is connect with user
The frequency domain character of touch (r (t)), feature, which judges to belong between robot and user, normally to contact or collides, according to the following formula
Judged, be then considered normally to contact when low frequency energy is high, then think to collide when high-frequency energy is high, triggering collision disappears
Except module works.
In formula, r [n] is the centrifugal pump of r (t), and N is the points for doing discrete fourier variation.
Step S4, according to collision external force, point of force application and the crash type of prediction, corresponding strategy is obtained, and adjust machine
The motor pattern of device people, to eliminate impact force.
Specifically, according to the size of impact force, different motor patterns is selected to eliminate collision, to ensure robot work effect
Rate.Wherein, when impact force is smaller, retarded motion cell operation makes robot movement velocity slow down；When impact force is medium, stop
Work is moved, robot is made to stop at collision posture；Resistive exercise cell operation when impact force is larger makes robot be in power control
Traction mode carries out counter motion, quickly eliminates impact force.
The embodiment of the present invention additionally provides a kind of operating system.Fig. 3 is that one kind of the operating system of the embodiment of the present invention is hard
Part structural schematic diagram.As shown in figure 3, operating system 30 includes：It command receiver 31, memory 32, processor 33 and is stored in
On memory 32 and the computer program that can run on processor 33, the various components in system can be coupling in by bus 34
Together.It is understood that bus 34 is for realizing the connection communication between these components.Bus 34 remove comprising data/address bus it
Outside, also include power bus, controlling bus and status signal bus in addition etc..It, in figure 3 will be various but for the sake of clear explanation
Bus all tables are bus 34.
It is understood that memory 32 can be volatibility or nonvolatile memory, can also include volatibility and
Both nonvolatile memories.Wherein, it can be read-only memory (ROM, Read Only that nonvolatile memory, which is seen,
Memory), programmable read only memory (PROM, Programmable Read-Only Memory), erasable programmable are read-only
Memory (EPROM, Erasable Programmable Read-Only Memory), electrically erasable programmable read-only memory
(EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access store
Device (FRAM, ferromagnetic random access memory), flash memory (flash EPROM), magnetic surface are deposited
Reservoir, CD or CD-ROM (CD-ROM, Compact Disc Read-Only Memory)；Magnetic surface storage can be
Magnetic disk storage or magnetic tape storage.Volatile memory can be random access memory (RAM, Random Access
Memory), it is used as External Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as
Static RAM (SRAM, Static Random Access Memory), synchronous static RAM
(SSRAM, Synchronous Static Random Access Memory), dynamic random access memory (DRAM,
Dynamic Random Access Memory), synchronous DRAM (SDRAM, Synchronous Dynamic
Random Access Memory), double data speed synchronous dynamic RAM (DDR SDRAM, Double
Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random-access deposits
Reservoir (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronized links dynamic with
Machine accesses memory (SLDRAM, Sync Link Dynamic Random Access Memory).The embodiment of the present invention describes
Memory 151 be intended to the memory including but not limited to these and any other suitable type.
Processor 33 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware of processor 33 or the instruction of software form.Above-mentioned place
Reason device 33 can be general processor, DSP either other programmable logic device, discrete gate or transistor logic, point
Vertical hardware component etc..Processor 33 may be implemented or execute disclosed each method, step and logic in the embodiment of the present invention
Block diagram.General processor can be microprocessor or any conventional processor etc..Side in conjunction with disclosed in the embodiment of the present invention
The step of method, can be embodied directly in hardware decoding processor and execute completion, or with the hardware and software in decoding processor
Block combiner executes completion.Software module can be located in storage medium, which is located at memory 32, and processor 33 is read
Information in access to memory 32, in conjunction with the step of its hardware completion preceding method.
In the present embodiment, the processor 33 is realized when executing described program：Set the parameters of robot；According to machine
The characteristic of device people carries out Dynamic Modeling and System Discrimination to robot, solves kinetics equation；Obtain each joint of robot
Position data, speed data and torque data；According to robot dynamics' equation, position data, the speed in each joint of robot
Data and torque data, prediction collision external force, point of force application and crash type.
As an implementation, it is further realized when the processor 33 executes described program：According to the collision of prediction
External force, point of force application and crash type obtain corresponding strategy, and adjust the motor pattern of robot, to eliminate impact force.
As an implementation, it is further realized when the processor 33 executes described program：Each axis of robot is set
It is set to mode position；Set each shaft position of robot, speed and torque threshold；Machine is cooked up according to the desired whole story point of robot
The geometric locus in each joint of device people.
As an implementation, it is further realized when the processor 33 executes described program：According to the spy of robot
Property, Dynamics Model is carried out to robot system using Lagrangian method, connecting rods power model is obtained and rubs with joint
Wipe power model；According to connecting rods power model, link parameters are recognized using CAD methods；According to joint-friction power model, using rail
Mark motivational techniques recognize friction characteristics parameter；According to link parameters and friction characteristics parameter, solved using parsing-symbolic method
Kinetics equation.
As an implementation, it is further realized when the processor 33 executes described program：According to motor tail portion
Absolute type encoder obtains joint position；Joint position is subjected to difference and obtains joint velocity；It calculates current of electric and obtains joint
Torque.
As an implementation, it is further realized when the processor 33 executes described program：It is determined using CAD methods
Load information；According to electric current loop feedback and kinetic model, the collision torque of robot and user is estimated by momentum observer；
According to collision torque, the connecting rod number to collide is judged；The frequency of robot and user's contact force is sought by frequency-domain analysis method
Characteristic of field；According to frequency domain character, crash type is obtained.
The embodiment of the present invention also provides a kind of computer storage media, is stored thereon with computer program, the computer journey
It is realized when sequence is executed by processor：Set the parameters of robot；According to the characteristic of robot, dynamics is carried out to robot
Modeling and System Discrimination solve kinetics equation；Obtain position data, speed data and the torque data in each joint of robot；
According to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, prediction collision external force,
Point of force application and crash type.
As an implementation, it is further realized when which is executed by processor：According to the collision of prediction
External force, point of force application and crash type obtain corresponding strategy, and adjust the motor pattern of robot, to eliminate impact force.
As an implementation, it is further realized when which is executed by processor：Each axis of robot is set
It is set to mode position；Set each shaft position of robot, speed and torque threshold；Machine is cooked up according to the desired whole story point of robot
The geometric locus in each joint of device people.
As an implementation, it is further realized when which is executed by processor：
According to the characteristic of robot, Dynamics Model is carried out to robot system using Lagrangian method, is obtained
Connecting rods power model and joint-friction power model；According to connecting rods power model, link parameters are recognized using CAD methods；Root
According to joint-friction power model, friction characteristics parameter is recognized using track motivational techniques；According to link parameters and friction characteristics
Parameter solves kinetics equation using parsing-symbolic method.
As an implementation, it is further realized when which is executed by processor：According to motor tail portion
Absolute type encoder obtains joint position；Joint position is subjected to difference and obtains joint velocity；It calculates current of electric and obtains joint
Torque.
As an implementation, it is further realized when which is executed by processor：It is determined using CAD methods
Load information；According to electric current loop feedback and kinetic model, the collision torque of robot and user is estimated by momentum observer；
According to collision torque, the connecting rod number to collide is judged；The frequency of robot and user's contact force is sought by frequency-domain analysis method
Characteristic of field；According to frequency domain character, crash type is obtained.
It should be noted that in this specification, the terms "include", "comprise" or its any other variant are intended to non-
It is exclusive to include, so that process, method, article or equipment including a series of elements include not only those elements,
But also include the element limited by sentence "including a ..." in the case of not limiting clearly, it is not excluded that including
There is also other identical elements in the process of the element, method, article or equipment.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The system that the extraction of row system, device or equipment is instructed and executed instruction) it uses, or combine these instruction execution systems, device
Or equipment and use.For the purpose of this specification, " computer-readable medium " can any be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can optical scanner for example be carried out by paper or other media, then into edlin, interpretation or when necessary with other
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or combination thereof are realized；With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA).
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, specific features structure, material or the feature of description can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (18)
1. a kind of robot collision detecting system is suitable for robot, the robot includes several joints, each joint position
Install a motor, which is characterized in that the collision detecting system includes：
Movement instruction module, for carrying out motion control to robot；
Dynamics module carries out Dynamic Modeling and System Discrimination to robot, solves dynamics side according to the characteristic of robot
Journey；
Feedback of status module, position data, speed data and torque data for obtaining each joint of robot；
Prediction of collision module, for position data, speed data and the power according to robot dynamics' equation, each joint of robot
Square data, prediction collision external force, point of force application and crash type.
2. robot collision detecting system according to claim 1, which is characterized in that further include a collision and eliminate mould
Block, the collision cancellation module obtain corresponding strategy, and adjust according to collision external force, point of force application and the crash type of prediction
The motor pattern of whole robot, to eliminate impact force.
3. robot collision detecting system according to claim 1, which is characterized in that the artificial four axis industrial machine of machine
One kind in device people, six-shaft industrial robot and cooperation robot.
4. robot collision detecting system according to claim 1, which is characterized in that the movement instruction module includes：
Each axis of robot is set as mode position by mode setting unit；
Soft position-limiting unit, each shaft position of setting robot, speed and torque threshold；
Trajectory planning unit cooks up the geometric locus in each joint of robot according to the desired whole story point of robot.
5. robot collision detecting system according to claim 1, which is characterized in that the dynamics module includes：
Modeling unit carries out Dynamics Model using Lagrangian method according to the characteristic of robot to robot system,
Obtain connecting rods power model and joint-friction power model；
Identification unit recognizes link parameters according to connecting rods power model using CAD methods；According to joint-friction power model, adopt
Friction characteristics parameter is recognized with track motivational techniques；
Computing unit solves kinetics equation according to link parameters and friction characteristics parameter using parsing-symbolic method.
6. robot collision detecting system according to claim 1, which is characterized in that the feedback of status module includes：
Position acquisition unit obtains joint position according to the absolute type encoder of motor tail portion；
Joint position is carried out difference and obtains joint velocity by speed acquiring unit；
Torque acquiring unit calculates current of electric and obtains joint moment.
7. robot collision detecting system according to claim 1, which is characterized in that the prediction of collision module includes：
Computing unit is loaded, load information is determined using CAD methods；
Impact force estimation unit estimates robot and user according to electric current loop feedback and kinetic model by momentum observer
Collision torque；
Point of impingement detection unit judges the connecting rod number to collide according to collision torque；
Feature identification unit is collided, the frequency domain character of robot and user's contact force is sought by frequency-domain analysis method；
Crash type recognition unit obtains crash type according to frequency domain character.
8. robot collision detecting system according to claim 7, which is characterized in that the load information includes load
Quality, barycenter and inertial tensor parameter.
9. robot collision detecting system according to claim 2, which is characterized in that the collision cancellation module includes：
Retarded motion unit, the movement velocity for controlling robot slow down；
Stop motion unit, the movement for controlling robot stop；
Resistive exercise unit, control robot are in power control traction mode, counter motion are carried out, to eliminate impact force.
10. a kind of robot collision checking method, which is characterized in that comprise the steps of：
Step S1, according to the characteristic of robot, Dynamic Modeling and System Discrimination is carried out to robot, solve kinetics equation；
Step S2, position data, speed data and the torque data in each joint of robot are obtained；
Step S3, according to robot dynamics' equation, the position data in each joint of robot, speed data and torque data, in advance
Survey collision external force, point of force application and crash type.
11. robot collision checking method according to claim 10, which is characterized in that also include before the step S1
One step S0, the step S0 include：
Each axis of robot is set as mode position；
Set each shaft position of robot, speed and torque threshold；
The geometric locus in each joint of robot is cooked up according to the desired whole story point of robot.
12. robot collision checking method according to claim 10, which is characterized in that also include after the step S3
One step S4, the step S4 include：
According to collision external force, point of force application and the crash type of prediction, corresponding strategy is obtained, and adjusts the movement mould of robot
Formula, to eliminate impact force.
13. robot collision checking method according to claim 10, which is characterized in that the step S1 includes：
According to the characteristic of robot, Dynamics Model is carried out to robot system using Lagrangian method, obtains connecting rod
Kinetic model and joint-friction power model；
According to connecting rods power model, link parameters are recognized using CAD methods；According to joint-friction power model, swashed using track
Encourage method identification friction characteristics parameter；
According to link parameters and friction characteristics parameter, kinetics equation is solved using parsing-symbolic method.
14. robot collision checking method according to claim 10, which is characterized in that the step S2 includes：
Joint position is obtained according to the absolute type encoder of motor tail portion；
Joint position is subjected to difference and obtains joint velocity；
It calculates current of electric and obtains joint moment.
15. robot collision checking method according to claim 10, which is characterized in that the step S3 includes：
Load information is determined using CAD methods；
According to electric current loop feedback and kinetic model, the collision torque of robot and user is estimated by momentum observer；
According to collision torque, the connecting rod number to collide is judged；
The frequency domain character of robot and user's contact force is sought by frequency-domain analysis method；
According to frequency domain character, crash type is obtained.
16. robot collision checking method according to claim 15, which is characterized in that the load information includes load
Quality, barycenter and inertial tensor parameter.
17. a kind of storage medium, is stored thereon with computer program, which is characterized in that the computer program is executed by processor
Method described in any one of Shi Shixian claims 10~16.
18. a kind of operating system, including memory, processor and storage are on a memory and the calculating that can run on a processor
Machine program, which is characterized in that the processor realizes any one of claim 10~16 institute when executing the computer program
The method stated.
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