CN109848995B - Industrial robot collision reaction method - Google Patents
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 33
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- 238000004364 calculation method Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 12
- 229910052782 aluminium Inorganic materials 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 9
- 239000002023 wood Substances 0.000 description 5
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- 238000004458 analytical method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- PWZUUYSISTUNDW-VAFBSOEGSA-N quinestrol Chemical compound C([C@@H]1[C@@H](C2=CC=3)CC[C@]4([C@H]1CC[C@@]4(O)C#C)C)CC2=CC=3OC1CCCC1 PWZUUYSISTUNDW-VAFBSOEGSA-N 0.000 description 1
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Abstract
The invention provides a collision reaction method of an industrial robot, which comprises the steps of determining a retreating direction according to the direction of a collision force after the robot collides, estimating the rigidity and the retreating speed of a collided object according to the collision force and the speed, calculating retreating tracks in a Cartesian space and a joint space by combining initial coordinates, and finally performing retreating action by the robot. According to the invention, different retreating speeds and retreating modes are adopted according to different rigidity and collision positions of a collided object, so that the control system of the industrial robot can make timely and appropriate collision reaction on the detected collision, and possible damage is avoided.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a collision reaction method of an industrial robot.
Background
Industrial robots are multi-degree-of-freedom manipulators or machine devices oriented to the industrial field. The industrial robot is widely applied to industrial production such as welding, grinding and polishing, spraying, carrying, assembling and the like. In recent years, with the wider application range of industrial robots, especially the application of multi-robot cooperation and man-machine cooperation, the requirements of people on the safety of robots are higher and higher.
When the robot detects that the robot collides with the external environment, the robot is stopped immediately and keeps the original position still, so that the robot is prevented from continuing to move and causing more serious damage. However, it is not enough to stop the robot, and because the robot generally has a large rigidity, when the robot collides with the workpiece, or the workpiece at the end of the robot collides with the workpiece, and the robot detects the collision and stops in time, a large contact force may be maintained between the robot and the workpiece, further damaging the workpiece. In addition, when the robot collides with a person and stops in time, the person may be clamped and cannot move, and the robot can only be started when the operator moves. During this period, it is inevitable that the collided person is further damaged. Therefore, when the robot detects a collision with the external environment, a simple stop is not sufficient and a timely and appropriate collision reaction must be made. However, the working environment of the robot is very complex, the types of collisions are also various, and a feasible method is to establish a collision reaction action library of the robot, so that a user can select corresponding reaction actions according to actual working conditions.
Disclosure of Invention
The invention solves the technical problem of providing a collision reaction method of an industrial robot, which adopts different retreating speeds and retreating modes according to different rigidity and collision positions of a collided object, and realizes that a control system of the industrial robot can make timely and appropriate collision reaction on the detected collision so as to avoid possible damage.
The technical solution for realizing the purpose of the invention is as follows:
an industrial robot collision reaction method includes the following steps:
step 1: set for the distance of retreating or the angle displacement of retreating of industrial robot after the collision in the host computer, when industrial robot and external object bump, gather and record industrial robot's collision information: recording the initial Cartesian space coordinate P (x) at which the robot tip is located at the collision location0，y0，z0) Initial joint space coordinate Q (Q)1，q2，q3，q4，q5，q6) And the maximum collision force F between the industrial robot and the external objecte；
Step 2: determining the retreating direction of the industrial robot in the Cartesian space as the direction of the maximum collision force applied to the industrial robot by a collided object when a collision occurs, namely:
wherein r is a retreating direction vector of the industrial robot, Fex，Fyx，FzxIs the maximum collision force FeComponent in Cartesian space, | FeI is the maximum impact force;
and step 3: calculating the rigidity estimated value sigma of the collided object according to the maximum collision force and the speed of the industrial robot*；
And 4, step 4: rigidity estimation value sigma according to collided object*Calculating the retreating speed v of the industrial robot after collision;
and 5: calculating the retreating track of the industrial robot in the Cartesian space according to the initial Cartesian space coordinate, the retreating direction and the retreating speed of the industrial robot0p and a retreating track q in the joint space, and controlling the industrial robot to follow the retreating track in the Cartesian space at a retreating speed according to a retreating direction0p and a retreating track q in the joint space perform retreating action;
step 6: and when the industrial robot retreats by the retreating distance or the retreating angular displacement, stopping the action and waiting for the next command of the upper computer.
Further, in the collision reaction method of the industrial robot, in the step 1, the magnitude and the direction of the collision force between the industrial robot and the external environment are acquired through a six-dimensional force sensor installed at the tail end of the industrial robot.
Further, the industrial robot collision reaction method of the invention, rigidity estimated value sigma in step 3*The calculation formula of (2) is as follows:
wherein, | FeL is the magnitude of the maximum impact force, vrIs the instantaneous speed, t, of the collision position of the industrial robot when the collision occurs*The time it takes for the collision force to rise from zero to a maximum.
Further, in the collision reaction method for the industrial robot, the calculation formula of the retreating speed v in the step 4 is as follows:
wherein, K*To adjust the coefficient, and K*Are positive real numbers.
Further, in the collision reaction method of the industrial robot, in step 5, the retreating track of the industrial robot in the Cartesian space0The formula for p is:
the formula for calculating the retreating track q in the joint space is:
wherein,
a coordinate change matrix from a joint i coordinate system to a base coordinate system, wherein the joint i coordinate system is in collision; q is an element of R6×1The positions of the joints of the industrial robot.
Further, the collision reaction method of an industrial robot of the present invention, K*Is in the range of 1 × 10-5～1×10-4。
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the collision reaction method of the industrial robot can automatically set different retreating speeds and retreating modes according to different rigidity and collision positions of a collided object, so that the industrial robot can timely and appropriately react to collision, and possible damage is avoided;
2. the collision reaction method of the industrial robot can customize the retreat distance, and the retreat distance can be adjusted according to the actual working condition;
3. the collision reaction method of the industrial robot can prevent the robot from clamping the collided person after the collision with the person occurs.
Drawings
Fig. 1 is a collision schematic diagram of an industrial robot of embodiment 1 of the present invention colliding an aluminum block;
fig. 2 is a collision schematic diagram of an industrial robot of embodiment 2 of the present invention colliding a wooden block;
fig. 3 is a schematic diagram of collision force and speed of an industrial robot according to embodiment 1 of the present invention colliding an aluminum block;
fig. 4 is a schematic diagram of collision force and speed of an industrial robot according to embodiment 2 of the present invention colliding a wooden block;
fig. 5 is a flow chart of the collision reaction method of the industrial robot of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An industrial robot collision reaction method, as shown in fig. 5, includes the following steps:
step 1: setting the retreating distance or the retreating angular displacement of the industrial robot after collision in the upper computer, and collecting when the industrial robot collides with an external objectAnd recording collision information of the industrial robot: recording the initial Cartesian space coordinate P (x) at which the robot tip is located at the collision location0，y0，z0) Initial joint space coordinate Q (Q)1，q2，q3，q4，q5，q6) And acquiring the maximum collision force F between the industrial robot and the external object through the six-dimensional force sensore；
Step 2: determining the retreating direction of the industrial robot in the Cartesian space as the direction of the maximum collision force applied to the industrial robot by a collided object when a collision occurs, namely:
wherein r is a retreating direction vector of the industrial robot, Fex，Fyx，FzxIs the maximum collision force FeComponent in Cartesian space, | FeI is the maximum impact force;
and step 3: according to the maximum collision force FeCalculating the rigidity estimated value sigma of the collided object according to the speed of the industrial robot*：
Wherein, | FeL is the magnitude of the maximum impact force, vrIs the instantaneous speed, t, of the collision position of the industrial robot when the collision occurs*The time it takes for the collision force to rise from zero to a maximum;
and 4, step 4: rigidity estimation value sigma according to collided object*Calculating the retreating speed v of the industrial robot after the collision:
wherein, K*To adjust the coefficient, and K*Is a true and trueCounting;
and 5: calculating the retreating track of the industrial robot in the Cartesian space according to the initial Cartesian space coordinate, the retreating direction and the retreating speed of the industrial robot0p and a receding trajectory in joint space q:
wherein,
a coordinate change matrix from a joint i coordinate system to a base coordinate system, wherein the joint i coordinate system is in collision; q is an element of R6×1The position of each joint of the industrial robot;
and controlling the industrial robot to follow a retreat trajectory in Cartesian space at a retreat speed in a retreat direction0p and a retreating track q in the joint space perform retreating action;
step 6: and when the industrial robot retreats by the retreating distance, stopping the action and waiting for the next command of the upper computer.
Example 1
The embodiment is specifically described by taking an example of operating an ER30 model industrial robot of eston robot engineering ltd to move in a z-axis negative direction in a cartesian space, as shown in fig. 1, an aluminum block is placed in advance on a moving path of the industrial robot, the industrial robot collides with the aluminum block in the moving process, and a six-dimensional force sensor is mounted at the tail end of the industrial robot and used for detecting the information of the collision force between the robot and the external environment.
The DH parameters of ER30 industrial robot are shown in table 1:
TABLE 1ER30 robot DH parameters table
| Connecting rod i | αi-1(°) | ai-1(mm) | di(mm) | θi(°) |
| 1 | 0 | 0 | 412 | 0 |
| 2 | 90 | 200 | 0 | 90 |
| 3 | 0 | 800 | 0 | 0 |
| 4 | 90 | 165 | 899 | 0 |
| 5 | -90 | 0 | 0 | 0 |
| 6 | 90 | 0 | 220 | 0 |
S1 recording collision information of industrial robot
When the ER30 robot collides with the aluminum block, the Cartesian space coordinate P of the robot end at the moment is recorded1(825, 50, 623) recording the maximum collision force F between the robot and the aluminum block when the collision occurse1＝126N。
S2 determining the direction of retreat of the industrial robot
The backward direction of the robot is set as follows: when the robot collides, the collided object applies the direction of the maximum collision force to the robot. Therefore, the backward direction of the robot after the collision is:
s3 calculating the backing speed of the industrial robot
When the rigidity of the object collided by the robot is high, the robot is easy to maintain a high contact force with the object, and the retreating speed v needs to be set to be a high value at the moment, so that the contact force is reduced rapidly; when the rigidity of the object collided by the robot is small, the contact force maintained by the robot and the object is small, and the retreating speed v needs to be set to be a small value at this time, so that other collisions caused by too high speed can be prevented. The stiffness estimate σ for the aluminum block in this example*Calculated to be about 103N/m, thus using the stiffness estimate σ of the aluminum block*By an adjustment factor K*To determine the backward speed of the robot and adjust the coefficient K*Is provided withIs 10-4And calculating the retreating speed v of the robot colliding with the aluminum block1＝0.1m/s。
S4, controlling the industrial robot to retreat
And after the retreating speed and the retreating direction of the industrial robot are obtained through calculation, calculating the joint space motion trail of the robot according to the inverse solution matrix of the industrial robot, and controlling the robot to retreat along the direction of the maximum collision force.
As shown in fig. 3, the collision force information F collected by the robot in the reaction experiment of the aluminum block collisionz，
And the moving speed v of the robotzThe plotted curve. At t1When the robot is in collision, the control system controls the robot to stop the motion of the z axis in the reverse direction, the motion is converted into motion along the positive direction of the z axis, namely the reverse direction of collision, the robot is far away from a collided object, and the backward speed is about 0.1 m/s.
Analysis shows that when the robot collides with the aluminum block, if the robot stops moving and stays in place, the collision part of the robot maintains a contact force of about 130N with the aluminum block. However, the collision reaction action set by the method can enable the robot to retreat along the opposite direction of the collision, the contact between the robot and the collided object is cancelled, the contact force can be reduced to 0 in a short time (about 0.2s), and the retreat speed of the robot can be automatically set to a reasonable value (0.1 m/s in the example) according to the rigidity estimated value of the collided object, which shows that the collision reaction of the method can timely and reasonably reduce the contact force between the robot and the collided object after the collision occurs.
Example 2
As shown in fig. 2, a block is previously placed on a moving path of the industrial robot, and the industrial robot collides with the block during the movement.
S1 recording collision information of industrial robot
When the ER30 robot collides with the wood block, recording the Cartesian space coordinate P of the robot end at the moment2(825, 50, 635) recording the impactMaximum impact force F between robot and wood block in birthe2＝143N。
S2 determining the direction of retreat of the industrial robot
The backward direction of the robot is set as follows: when the robot collides, the collided object applies the direction of the maximum collision force to the robot. Therefore, the backward direction of the robot after the collision is:
s3 calculating the backing speed of the industrial robot
Stiffness estimation value sigma of collided object*Calculated as 7 × 102N/m. Coefficient of regulation K*Is arranged as 10-4Calculating to obtain V2＝0.07m/s。
S4, controlling the industrial robot to retreat
After the retreating speed and the retreating direction of the industrial robot are obtained through calculation, the joint space motion trail of the robot can be obtained through calculation according to the inverse solution matrix of the industrial robot, and the robot can be controlled to retreat along the direction of the maximum collision force.
As shown in fig. 4, in the reaction experiment of the robot colliding with the wood block, the acquired collision force information Fz，
And the moving speed v of the robotzThe plotted curve. At t2When the robot is in collision, the control system controls the robot to stop the motion of the z axis in the reverse direction, the motion is converted into motion along the positive direction of the z axis, namely the reverse direction of collision, the robot is far away from a collided object, and the backward speed is about 0.07 m/s.
Analysis shows that when the robot collides with the wood block, if the robot stops moving, the collision part of the robot maintains a contact force of about 150N with the wood block. However, by adopting the collision reaction action set by the method, the robot retreats along the opposite direction of the collision, so that the contact force can be reduced to 0 within about 0.2s, and the retreating speed of the robot is automatically set to 0.07m/s according to the rigidity estimated value of the collided object, which shows that the collision reaction of the method can timely and reasonably reduce the contact force between the robot and the collided object after the collision occurs.
The foregoing is directed to embodiments of the present invention and, more particularly, to a method and apparatus for controlling a power converter in a power converter, including a power converter, a power.
Claims (6)
1. An industrial robot collision reaction method is characterized by comprising the following steps:
step 1: set for the distance of retreating or the angle displacement of retreating of industrial robot after the collision in the host computer, when industrial robot and external object bump, gather and record industrial robot's collision information: recording the initial Cartesian space coordinate P (x) at which the robot tip is located at the collision location0，y0，z0) Initial joint space coordinate Q (Q)1，q2，q3，q4，q5，q6) And the maximum collision force F between the industrial robot and the external objecte；
Step 2: determining the retreating direction of the industrial robot in the Cartesian space as the direction of the maximum collision force applied to the industrial robot by a collided object when a collision occurs, namely:
wherein r is a retreating direction vector of the industrial robot, Fex，Fyx，FzxIs the maximum collision force FeComponent in Cartesian space, | FeI is the maximum impact force;
and step 3: calculating the rigidity estimated value sigma of the collided object according to the maximum collision force and the instantaneous speed of the industrial robot*；
And 4, step 4: rigidity estimation value sigma according to collided object*Computing industryThe retreating speed v of the robot after collision;
and 5: calculating the retreating track of the industrial robot in the Cartesian space according to the initial Cartesian space coordinate, the retreating direction and the retreating speed of the industrial robot0p and a retreating track q in the joint space, and controlling the industrial robot to follow the retreating track in the Cartesian space at a retreating speed according to a retreating direction0p and a retreating track q in the joint space perform retreating action;
step 6: and when the industrial robot retreats by the retreating distance or the retreating angular displacement, stopping the action and waiting for the next command of the upper computer.
2. The collision reaction method for an industrial robot according to claim 1, characterized in that in step 1, the magnitude and direction of the collision force between the industrial robot and the external environment are collected by a six-dimensional force sensor installed at the end of the industrial robot.
3. An industrial robot collision reaction method according to claim 1, characterized in that the stiffness estimate σ in step 3*The calculation formula of (2) is as follows:
wherein, | FeL is the magnitude of the maximum impact force, vrIs the instantaneous speed, t, of the collision position of the industrial robot when the collision occurs*The time it takes for the collision force to rise from zero to a maximum.
4. A collision reaction method for an industrial robot according to claim 3, characterized in that the formula for the retreat velocity v in step 4 is:
wherein, K*For adjustingPitch coefficient, and K*Are positive real numbers.
5. Method for collision reaction of an industrial robot according to claim 4, characterised in that in step 5 the retreat trajectory of the industrial robot in Cartesian space0The formula for p is:
the formula for calculating the retreating track q in the joint space is:
wherein,
a coordinate change matrix from a joint i coordinate system to a base coordinate system, wherein the joint i coordinate system is in collision; q is an element of R6×1The positions of the joints of the industrial robot.
6. An industrial robot collision reaction method according to claim 4, characterized in that K*Is in the range of 1 × 10-5～1×10-4。
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| US8244458B1 (en) * | 2008-06-23 | 2012-08-14 | The United States Of America As Represented By The Secretary Of The Navy | Host-centric method for automobile collision avoidance decisions |
| JP2013188815A (en) * | 2012-03-13 | 2013-09-26 | Sony Corp | Control device, control method and computer program |
| CN106073630A (en) * | 2015-04-29 | 2016-11-09 | Lg电子株式会社 | Robot cleaner |
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