CN109129417A - Cooperation robot system and its implementation based on array of pressure sensors - Google Patents
Cooperation robot system and its implementation based on array of pressure sensors Download PDFInfo
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- CN109129417A CN109129417A CN201810913223.5A CN201810913223A CN109129417A CN 109129417 A CN109129417 A CN 109129417A CN 201810913223 A CN201810913223 A CN 201810913223A CN 109129417 A CN109129417 A CN 109129417A
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- cooperation robot
- composite force
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses cooperation robot system and its implementation based on array of pressure sensors, system includes teaching machine, controller and cooperation robot, and the cooperation robot includes motion-control module and sensor array；Method includes: the teaching motion profile set according to teaching machine, control cooperation robot motion；According to several torque inductive signals that sensor array obtains, stress point position, the torque size of composite force and the Impact direction of composite force of composite force are calculated；According to the stress point position of composite force, the torque size of composite force and the Impact direction of composite force, motion control instruction is generated；According to motion control instruction, the athletic performance of control cooperation robot.Of the invention cost is relatively low and practicability is high, can be widely applied to field in intelligent robotics.
Description
Technical field
The present invention relates to intelligent robot technology fields, are based especially on the cooperation robot system of array of pressure sensors
And its implementation.
Background technique
Currently, non-cooperating robot generally existing two problems in the method for man-machine collaboration security setting in the market: one
It is in order to protect personal safety to need that safe grating is arranged, increases equipment and cost input；Second is that it is complicated for operation, it is unskilled
The personnel of operation can not operate robot.Cooperation robot is able to solve these problems.The implementation of cooperation robot is main
It is that one pressure sensor is installed in joint of mechanical arm, mechanical arm external contact force is converted to by this pressure sensor by power
Square, when pulling teaching, when people contacts robot, pressure sensor detects direction and the size of the contact force of people, robotic arm
It is moved along the direction of torque with the speed being positively correlated with torque size, to realize dragging teaching；When working properly, when
When mechanical arm detects extraneous contact torque, robot stops, and realizes anticollision.But existing this use pressure sensor
The cooperation robot of torque is detected when detecting torque, the weight and inertia for needing to exclude mechanical arm itself are to the shadow of testing result
It rings, and stress point position cannot be detected, it is not practical enough.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: it is high to provide a kind of at low cost and practicability, based on pressure
The cooperation robot system and its implementation of force sensor array.
First technical solution adopted by the present invention is:
Cooperation robot system based on array of pressure sensors, including teaching machine, controller and cooperation robot, it is described
Cooperation robot includes motion-control module and sensor array；Wherein:
The teaching machine is used to set the motion profile of cooperation robot；
The sensor array is used for several sensor units by being set to cooperation robotic surface to obtain torque
Inductive signal；
The controller, multiple torque inductive signals for being obtained according to sensor array, calculate composite force by
Force position, the torque size of composite force and the Impact direction of composite force, and according to the stress point position of composite force, composite force
Torque size and the Impact direction of composite force generate motion control instruction；
The motion-control module, the motion control instruction for being sent according to controller, the fortune of control cooperation robot
Movement.
Further, the teaching machine includes key module, and the key module is used to obtain the input instruction of user, and will
Input instruction is sent to controller.
It further, further include warning device, the warning device is used for the control instruction according to controller, carries out alarm and mentions
Show.
Further, the cooperation robot further includes locating module, and the locating module is used to obtain cooperation robot
Location information.
Second technical solution adopted by the present invention is:
The implementation method of cooperation robot system based on array of pressure sensors, comprising the following steps:
According to the teaching motion profile that teaching machine is set, control cooperation robot motion；
According to several torque inductive signals that sensor array obtains, stress point position, the composite force of composite force are calculated
Torque size and composite force Impact direction；
According to the stress point position of composite force, the torque size of composite force and the Impact direction of composite force, movement is generated
Control instruction；
According to motion control instruction, the athletic performance of control cooperation robot.
Further, described several torque inductive signals obtained according to sensor array, calculate the stress point of composite force
The step for Impact direction of position, the torque size of composite force and composite force, comprising the following steps:
Stress point position, torque size and the Impact direction of multiple sensor units in sensor array are obtained respectively；
According to the torque size and Impact direction of multiple sensor units, the torque direction vector of composite force is calculated；
According to the torque direction vector of composite force, the torque size of composite force is calculated；
According to the stress point position of multiple sensor units, the stress point position of composite force is calculated.
Further, described according to motion control instruction, the step for the athletic performance of control cooperation robot, including it is following
Step:
Whether the movement anchor point for judging cooperation robot is taught point, if so, movement anchor point is recorded as teaching
Point, and perform the next step rapid；Conversely, the teaching motion profile set according to teaching machine is then returned, control cooperation robot motion
The step for；
Judge whether the teaching campaign of cooperation robot terminates, if so, stopping the athletic performance of cooperation robot；Instead
The step for it, then pass back through the teaching motion profile of teaching machine setting, controls cooperation robot motion, until cooperation machine
The teaching campaign of people terminates.
Further, described according to motion control instruction, the step for the athletic performance of control cooperation robot, further include with
Lower step:
Judge whether sensor array receives contact torque inductive signal, if so, issuing stop motion by controller
Instruction, then control cooperation robot stop motion；Conversely, then performing the next step rapid；
Judging whether cooperation robot moves terminates, if so, being not processed；Conversely, then passing back through teaching machine setting
Teaching motion profile, control cooperation robot motion the step for.
Further, described the step for stop motion instruction is issued by controller, controls cooperation robot stop motion,
It is further comprising the steps of:
Judge whether the movement failure of cooperation robot has excluded, if so, passing back through the teaching of teaching machine setting
The step for motion profile, control cooperation robot motion；Conversely, then issuing warning note by warning device.
Further, the multiple sensor unit is set to cooperation robot outer surface according to setting gap.
The beneficial effects of the present invention are: the present invention is additionally arranged sensor array, the sensor array in cooperation robot
Column include multiple sensor units for being set to cooperation robot outer surface, multiple torques that the present invention is obtained according to sensor array
Inductive signal, calculates stress point position, the torque size of composite force and the Impact direction of composite force of composite force, and according to
The Impact direction of the stress point position of composite force, the torque size of composite force and composite force generates motion control instruction, most
The movement of cooperation robot is controlled according to motion control instruction afterwards, cooperation robot of the invention is in teaching and real work
In the process, no setting is required safe grating, cost is relatively low, and the weight and inertia that not will receive mechanical arm itself are to moment inspecting knot
The influence of fruit, can obtain stress point position, torque size and the Impact direction of composite force, and practicability is high.
Detailed description of the invention
Fig. 1 is that the present invention is based on the overall structure block diagrams of the cooperation robot system of array of pressure sensors；
Fig. 2 is that the present invention is based on the step flow charts of the implementation method of the cooperation robot system of array of pressure sensors；
Fig. 3 is the flow chart of the teaching state of cooperation robot in the embodiment of the present invention；
Fig. 4 is the flow chart of the working condition of cooperation robot in the embodiment of the present invention.
Specific embodiment
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.For of the invention real
The step number in example is applied, is arranged only for the purposes of illustrating explanation, any restriction is not done to the sequence between step, is implemented
The execution sequence of each step in example can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to Fig.1, the present invention is based on the cooperation robot system of array of pressure sensors, including teaching machine, controller and
Cooperate robot, and the cooperation robot includes motion-control module and sensor array；Wherein:
The teaching machine is used to set the motion profile of cooperation robot；
The sensor array is used for several sensor units by being set to cooperation robotic surface to obtain torque
Inductive signal；
The controller, multiple torque inductive signals for being obtained according to sensor array, calculate composite force by
Force position, the torque size of composite force and the Impact direction of composite force, and according to the stress point position of composite force, composite force
Torque size and the Impact direction of composite force generate motion control instruction；
The motion-control module, the motion control instruction for being sent according to controller, the fortune of control cooperation robot
Movement.
It is further used as preferred embodiment, the teaching machine includes key module, and the key module is for obtaining
The input of user instructs, and sends controller for input instruction.
Referring to Fig.1, it is further used as preferred embodiment, further includes warning device, the warning device is used for basis
The control instruction of controller carries out warning note.
Referring to Fig.1, it is further used as preferred embodiment, the cooperation robot further includes locating module, described fixed
Position module is used to obtain the location information of cooperation robot.
Referring to Fig. 2, the present invention is based on the implementation methods of the cooperation robot system of array of pressure sensors, including following step
It is rapid:
According to the teaching motion profile that teaching machine is set, control cooperation robot motion；
According to several torque inductive signals that sensor array obtains, stress point position, the composite force of composite force are calculated
Torque size and composite force Impact direction；
According to the stress point position of composite force, the torque size of composite force and the Impact direction of composite force, movement is generated
Control instruction；
According to motion control instruction, the athletic performance of control cooperation robot.
Wherein, sensor of the invention array is made of each sensor unit, and each sensor unit corresponds to one
The additional space position of cooperation robot arm, each sensor unit can detect connecing perpendicular to sensor unit surface
Then touch square size synthesizes the torque size that each sensor unit receives by controller, finally according to each sensor unit
Relative tertiary location calculates torque direction and stress point.
It is further used as preferred embodiment, described several torque inductive signals obtained according to sensor array,
The step for calculating the Impact direction of the stress point position of composite force, the torque size of composite force and composite force, including it is following
Step:
Stress point position, torque size and the Impact direction of multiple sensor units in sensor array are obtained respectively；
According to the torque size and Impact direction of multiple sensor units, the torque direction vector of composite force is calculated；
According to the torque direction vector of composite force, the torque size of composite force is calculated；
According to the stress point position of multiple sensor units, the stress point position of composite force is calculated.
It is further used as preferred embodiment, described according to motion control instruction, the movement of control cooperation robot is dynamic
The step for making, comprising the following steps:
Whether the movement anchor point for judging cooperation robot is taught point, if so, movement anchor point is recorded as teaching
Point, and perform the next step rapid；Conversely, the teaching motion profile set according to teaching machine is then returned, control cooperation robot motion
The step for；
Judge whether the teaching campaign of cooperation robot terminates, if so, stopping the athletic performance of cooperation robot；Instead
The step for it, then pass back through the teaching motion profile of teaching machine setting, controls cooperation robot motion, until cooperation machine
The teaching campaign of people terminates.
It is further used as preferred embodiment, described according to motion control instruction, the movement of control cooperation robot is dynamic
The step for making, further comprising the steps of:
Judge whether sensor array receives contact torque inductive signal, if so, issuing stop motion by controller
Instruction, then control cooperation robot stop motion；Conversely, then performing the next step rapid；
Judging whether cooperation robot moves terminates, if so, being not processed；Conversely, then passing back through teaching machine setting
Teaching motion profile, control cooperation robot motion the step for.
It is further used as preferred embodiment, it is described that stop motion instruction, control cooperation machine are issued by controller
It is the step for people's stop motion, further comprising the steps of:
Judge whether the movement failure of cooperation robot has excluded, if so, passing back through the teaching of teaching machine setting
The step for motion profile, control cooperation robot motion；Conversely, then issuing warning note by warning device.
It is further used as preferred embodiment, the multiple sensor unit is set to cooperation robot according to setting gap
Outer surface.
Separately below by taking the teaching state and working condition of the robot that cooperates as an example, the present invention will be described in detail is passed based on pressure
The specific workflow of the cooperation robot system of sensor array:
Referring to Fig. 3, cooperate specific workflow of the robot under teaching state are as follows:
S101, operator input teaching sign on by the key module on teaching machine, are then dragged by operator
Cooperation robot is draged to be moved；
S102, cooperation robot obtain the moment information of operator by sensor array in towing motion process；
Wherein, step S102 specifically: respectively by multiple sensor units obtain the size of torque, Impact direction and by
Power position.
S103, according to the moment information that gets, calculate the stress point position of composite force, composite force torque size with
And the Impact direction of composite force；
In the present embodiment, the position of sensor unit uses matrixIt indicates,
Using the direction perpendicular to flat sensor surface as z-axis direction (i.e.).The location matrix for remembering i-th of sensor unit isThe torque size for remembering i-th of sensor unit is fi, then the Impact direction of i-th of sensor unit to
Amount isIf the size of the torque of composite force is scalar fS；Unit direction vector isDue to association
Make movement velocity v (the i.e. v=k*f directly proportional to torque size of robots), so the direction of motion and unit of cooperation robot
Direction vector is identical.Wherein,Represent relative to reference frame sensor unit position coordinates shafting n axis direction to
Amount；Represent a axis direction vector of the position coordinates shafting of the sensor unit relative to reference frame；Represent relative to
The position coordinates shafting position vector of the sensor unit of reference frame；axIt representsPoint of the vector in reference frame x-axis
Amount；ayIt representsComponent of the vector in reference frame y-axis；azIt representsComponent of the vector in reference frame z-axis；
To sum up, the direction vector for calculating composite force isThe list of composite force
Position direction vector beThe torque size of composite force isThe stress point position vector of composite force is
S104, according to the Impact direction next life of the stress point position of composite force, the torque size of composite force and composite force
At motion control instruction.
S105, cooperation robot are moved to preset movement anchor point according to motion control instruction, and by the anchor point mark
It is denoted as taught point；
S106, judge whether the teaching campaign of cooperation robot terminates, if so, the movement for stopping cooperation robot is dynamic
Make；Conversely, S101 is then returned to step, until the teaching campaign of cooperation robot terminates.
Referring to Fig. 4, the specific workflow of cooperation robot in the operating condition are as follows:
S201, operator are by the key module input service sign on teaching machine, and the robot that cooperates is according to showing
The motion profile of religion device setting is moved.
S202, cooperation robot during the motion, the moment information of operator are obtained by sensor array；
Wherein, step S202 specifically: respectively by multiple sensor units obtain the size of torque, Impact direction and by
Power position.
S203, judge whether cooperation robot receives contact torque during the motion, if so, thening follow the steps S204；
Conversely, thening follow the steps S205；
S204 issues stop motion instruction by controller, then control cooperation robot stop motion；
Wherein, the step S204 is further comprising the steps of:
Judge whether the movement failure of cooperation robot has excluded, if so, return step S201；Conversely, then passing through
Warning device issues warning note.
Whether S205, the robot that judges to cooperate move and terminate, if so, being not processed；Conversely, then return step S201.
In conclusion the present invention is based on the cooperation robot system and its implementation of array of pressure sensors, have with
Lower advantage:
1), cooperation robot of the invention is in teaching and practical work process, no setting is required safe grating, cost compared with
It is low；
2), the present invention not will receive the influence of the weight and inertia of mechanical arm itself to moment inspecting result, can obtain
Stress point position, torque size and the Impact direction of composite force, practicability are high.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. the cooperation robot system based on array of pressure sensors, it is characterised in that: including teaching machine, controller and cooperation machine
Device people, the cooperation robot includes motion-control module and sensor array；Wherein:
The teaching machine is used to set the motion profile of cooperation robot；
The sensor array is used for several sensor units by being set to cooperation robotic surface to obtain torque induction
Signal；
The controller, multiple torque inductive signals for being obtained according to sensor array, calculates the stress point of composite force
Position, the torque size of composite force and the Impact direction of composite force, and according to the stress point position of composite force, the power of composite force
The Impact direction of square size and composite force generates motion control instruction；
The movement of the motion-control module, the motion control instruction for being sent according to controller, control cooperation robot is dynamic
Make.
2. the cooperation robot system according to claim 1 based on array of pressure sensors, it is characterised in that: described to show
Teaching device includes key module, and the key module is used to obtain the input instruction of user, and sends controller for input instruction.
3. the cooperation robot system according to claim 1 based on array of pressure sensors, it is characterised in that: further include
Warning device, the warning device are used for the control instruction according to controller, carry out warning note.
4. the cooperation robot system according to claim 1 based on array of pressure sensors, it is characterised in that: the association
It further include locating module as robot, the locating module is used to obtain the location information of cooperation robot.
5. the implementation method of the cooperation robot system based on array of pressure sensors, it is characterised in that: the following steps are included:
According to the teaching motion profile that teaching machine is set, control cooperation robot motion；
According to several torque inductive signals that sensor array obtains, the stress point position of composite force, the power of composite force are calculated
The Impact direction of square size and composite force；
According to the stress point position of composite force, the torque size of composite force and the Impact direction of composite force, motion control is generated
Instruction；
According to motion control instruction, the athletic performance of control cooperation robot.
6. the implementation method of the cooperation robot system according to claim 5 based on array of pressure sensors, feature
Be: described several torque inductive signals obtained according to sensor array calculate stress point position, the composite force of composite force
Torque size and composite force Impact direction the step for, comprising the following steps:
Stress point position, torque size and the Impact direction of multiple sensor units in sensor array are obtained respectively；
According to the torque size and Impact direction of multiple sensor units, the torque direction vector of composite force is calculated；
According to the torque direction vector of composite force, the torque size of composite force is calculated；
According to the stress point position of multiple sensor units, the stress point position of composite force is calculated.
7. the implementation method of the cooperation robot system according to claim 5 based on array of pressure sensors, feature
It is: it is described according to motion control instruction, the step for the athletic performance of control cooperation robot, comprising the following steps:
Whether the movement anchor point for judging cooperation robot is taught point, if so, movement anchor point is recorded as taught point, and
It performs the next step rapid；Conversely, the teaching motion profile set according to teaching machine is then returned, control cooperation this step of robot motion
Suddenly；
Judge whether the teaching campaign of cooperation robot terminates, if so, stopping the athletic performance of cooperation robot；Conversely, then
The step for passing back through the teaching motion profile of teaching machine setting, controlling cooperation robot motion, until cooperation robot
Teaching campaign terminates.
8. the implementation method of the cooperation robot system according to claim 7 based on array of pressure sensors, feature
It is: it is described according to motion control instruction, further comprising the steps of the step for the athletic performance of control cooperation robot:
Judge whether sensor array receives contact torque inductive signal, if so, stop motion instruction is issued by controller,
Then control cooperation robot stop motion；Conversely, then performing the next step rapid；
Judging whether cooperation robot moves terminates, if so, being not processed；Conversely, then passing back through showing for teaching machine setting
The step for teaching motion profile, controlling cooperation robot motion.
9. the implementation method of the cooperation robot system according to claim 8 based on array of pressure sensors, feature
It is: it is described that stop motion instruction is issued by controller, the step for cooperating robot stop motion is controlled, further includes following
Step:
Judge whether the movement failure of cooperation robot has excluded, if so, passing back through the teaching campaign of teaching machine setting
The step for track, control cooperation robot motion；Conversely, then issuing warning note by warning device.
10. the implementation method of the cooperation robot system according to claim 6 based on array of pressure sensors, feature
Be: the multiple sensor unit is set to cooperation robot outer surface according to setting gap.
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| CN201810913223.5A CN109129417A (en) | 2018-08-13 | 2018-08-13 | Cooperation robot system and its implementation based on array of pressure sensors |
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| CN201810913223.5A CN109129417A (en) | 2018-08-13 | 2018-08-13 | Cooperation robot system and its implementation based on array of pressure sensors |
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| CN114019955A (en) * | 2021-10-12 | 2022-02-08 | 科沃斯机器人股份有限公司 | Self-moving robot and motion control method |
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