CN112092015B - Robot collision detection test method - Google Patents
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Abstract
The application provides a robot collision detection test method, which comprises the following steps: selecting an auxiliary test robot and a tested robot, and determining the installation distance between the auxiliary test robot and the tested robot; fixing the test equipment at the tail end of the auxiliary test robot, and connecting the test equipment with the acquisition equipment; calculating to obtain a space collision point of the auxiliary test robot according to the relative position of the tested robot and the auxiliary test robot and the space collision point of the tested robot so as to obtain a collision test set; under the quasi-static test condition, the tail end of the auxiliary test robot is controlled to move to the collision point position, the tested robot is controlled to impact the test equipment at the tail end of the auxiliary test robot at the collision point position, and the acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot collides with the auxiliary test robot. The test system and the test method can greatly improve the test efficiency, and can also control the auxiliary test robot to accurately reach the collision point of the tested robot.
Description
Technical Field
The application belongs to the field of robots, and particularly relates to a robot collision detection test method.
Background
With the wide expansion of the application scene of interactive collaboration between robots and people, people put higher requirements on the functional safety of the robots, especially on the safety of the collaborative robots in human-computer collaboration, and collision detection is an important safety function for limiting human-computer collaboration force. For a robot, collision in the operation process can occur at any position and pose of the robot. Therefore, the test for the robot cooperative force performance needs to satisfy the following requirements: covering most of the surface of the robot; covering the motion space of the robot; various collision working conditions and dynamic processes between the robots can be fully simulated.
The existing testing method needs to meet the requirements of a testing set by continuously replacing the spatial position of the testing device. However, since the replacement of the spatial position of the test apparatus requires manual operation, and the test pose of one robot is generally several tens or even hundreds, the test efficiency is very low. And since it is difficult to find an accurate position under the robot base coordinate system when the test device is replaced, a collision position deviation is easily caused. In addition, the existing test method is difficult to simulate the dynamic process of position deviation caused by impact of people in the process of collision between real robots and people.
Disclosure of Invention
To overcome, at least to some extent, the problems in the related art, the present application provides a robot collision detection test method.
According to an embodiment of the present application, there is provided a robot collision detection test method, including the steps of:
selecting an auxiliary test robot and a tested robot, and determining the installation distance between the auxiliary test robot and the tested robot;
fixing the test equipment at the tail end of the auxiliary test robot, and connecting the test equipment with acquisition equipment, wherein the acquisition equipment is used for acquiring test data output by the test equipment;
calculating to obtain the space collision point of the auxiliary test robot according to the relative position of the tested robot and the auxiliary test robot and the space collision point of the tested robot, wherein each space collision point of the auxiliary test robot forms a collision test set of the auxiliary test robot in a Cartesian space;
under the quasi-static test condition, the tail end of the auxiliary test robot is controlled to move to the collision point position, the tested robot is controlled to impact the test equipment at the tail end of the auxiliary test robot at the collision point position, and the acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot collides with the auxiliary test robot.
In the robot collision detection test method, the installation distance between the auxiliary test robot and the tested robot needs to satisfy: the working space of the auxiliary test robot covers the collision detection test space of the tested robot.
In the robot collision detection test method, the auxiliary test robot has at least 6 self-degrees.
In the robot collision detection test method, the specific process of calculating the collision test set of the auxiliary test robot according to the relative position of the tested robot and the auxiliary test robot and the spatial collision point location of the tested robot is as follows:
suppose that a collision point of the measured robot A in the Cartesian space is as follows:
APi＝[X Y Z PBORG]，
wherein [ X Y Z]Indicates the direction of collision, [ P ]BORG]Indicating a collision location;
the n collision point positions of the tested robot A form a collision test set of the tested robot A in a Cartesian space of the tested robot A:APi(i＝1,2,L,n)∈{A}；
the direction is opposite when auxiliary test robot B collides with robot A under test at a certain point position, and the position is the same, then an auxiliary test robot B in its Cartesian space's a collision point position is:
wherein,
the conversion matrix is obtained by calculation according to the relative positions of the tested robot A and the auxiliary testing robot B during testing;
the n collision point positions of the auxiliary test robot B form a collision test set of the auxiliary test robot B in a Cartesian space:BPi(i＝1,2,L,n)∈{B}。
in the above robot collision detection test method, under the quasi-static test condition, the specific process of controlling the tail end of the auxiliary test robot to move to the collision point, controlling the tested robot to impact the test equipment at the collision point of the tail end of the auxiliary test robot, and recording the peak value and the steady state value of the collision force when the tested robot collides with the auxiliary test robot by the acquisition equipment is as follows:
controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPiThe acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot A collides with the auxiliary testing robot B;
the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision point positionAPi+1And the tail end of the auxiliary test robot B runs to the next collision pointBPi+1Carrying out the next test;
judging whether all the collision point locations are tested, if so, saving the data, and ending the test; and if not, continuing to control the tested robot A to impact the test equipment at the tail end of the auxiliary test robot B at the next collision point until all the collision points are tested.
The robot collision detection test method further comprises the following steps:
under the condition of dynamic testing, the auxiliary testing robot enters an impedance mode, the tail end of the auxiliary testing robot is controlled to move to a collision point, the tested robot is controlled to impact testing equipment at the tail end of the auxiliary testing robot at the collision point, and the acquisition equipment records the peak value and the steady-state value of collision force when the tested robot collides with the auxiliary testing robot.
Further, under the dynamic test condition, the auxiliary test robot enters an impedance mode, the tail end of the auxiliary test robot is controlled to move to the collision point, the tested robot is controlled to impact the test equipment at the tail end of the auxiliary test robot at the collision point, and the specific process of recording the peak value and the steady state value of the collision force when the tested robot collides with the auxiliary test robot by the acquisition equipment is as follows:
adjusting the auxiliary robot to enable the auxiliary robot to enter an impedance mode, and adjusting impedance parameters to simulate the process that the robot A to be tested impacts a real object or a person;
controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPi(ii) a The method comprises the following steps that a collecting device records the peak value and the steady-state value of collision force when a tested robot A collides with an auxiliary testing robot B;
the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision pointAPi+1And the tail ends of the auxiliary test robots B all run to the next collision pointBPi+1Carrying out the next test;
judging whether all the collision point locations are tested, if so, saving the data, and ending the test; and if not, continuing to control the tested robot A to impact the test equipment at the tail end of the auxiliary test robot B at the next collision point until all the collision points are tested.
Furthermore, the auxiliary test robot is adjusted to enter an impedance mode, and impedance parameters are adjusted to simulate the relationship between the resilience force F after the auxiliary test robot deviates from the position before impact after being impacted and the motion state of the auxiliary test robot after being impacted in the process that the tested robot A impacts a real object or a person, wherein the relationship is as follows:
in the formula,
indicating the acceleration of the auxiliary test robot after an impact,
representing the velocity of the auxiliary test robot after being impacted, x representing the impact of the auxiliary test robotA later offset displacement;
r, c and k all represent impedance coefficients, wherein r is used for simulating the weight of a human body, c is used for simulating the elasticity of the skin surface of the human body, and k is used for simulating the resistance of the skin surface of the human body.
According to the above embodiments of the present application, at least the following advantages are obtained: by adopting the robot collision detection test method provided by the application, the test equipment is fixed at the tail end of the auxiliary test robot, and in the test process, the spatial position of the test equipment can be changed by rotating the joint of the auxiliary test robot without reinstalling or fixing the test equipment, so that the test efficiency is greatly improved.
In addition, since the relative position of the auxiliary test robot and the tested robot is known and the collision test set of the auxiliary test robot in the space is calculated, the auxiliary test robot can be controlled to accurately reach the collision point of the tested robot.
This application is through setting up the auxiliary test robot into the impedance mode to adjust suitable impedance parameter, just can simulate human biomechanics characteristic, simulate the true collision process of being surveyed robot and people better.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a robot collision detection testing method according to an embodiment of the present disclosure.
Fig. 2 is a layout diagram of an auxiliary testing robot, a tested robot, a testing device, and a collecting device in a robot collision detection testing method according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating a collision between an auxiliary test robot and a tested robot in a quasi-static test condition in a robot collision detection test method according to an embodiment of the present disclosure.
Fig. 4 is a flowchart illustrating a collision between an auxiliary test robot and a tested robot in a robot collision detection testing method according to an embodiment of the present application under a dynamic test condition.
Detailed Description
To make the objectives, technical solutions and advantages of the embodiments of the present application more apparent, the spirit of the present disclosure will be clearly described in the following drawings and detailed description, and any person skilled in the art who knows the embodiments of the present application can change and modify the technology taught by the present application without departing from the spirit and scope of the present application.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are intended to represent the same or similar parts.
As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple groups" herein includes "two groups" and "more than two groups".
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. In general, the range of minor variations or errors that may be modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
Fig. 1 is a flowchart of a robot collision detection testing method according to an embodiment of the present disclosure.
As shown in fig. 1, the robot collision detection test method provided by the present application includes the following steps:
and S1, selecting the auxiliary test robot and the tested robot, and determining the installation distance between the auxiliary test robot and the tested robot.
As shown in fig. 2, the robot under test a and the auxiliary test robot B are fixedly mounted at appropriate positions.
For testing the collision safety performance of the tested robot A, the installation distance between the auxiliary testing robot B and the tested robot A needs to meet the following requirements: the smart workspace of the auxiliary test robot B covers the collision detection test space of the tested robot a. Wherein, the collision detection test space of the tested robot A is specified by a robot manufacturer before leaving factory.
In order to test the collision safety performance of the tested robot a, a plurality of auxiliary test robots or a larger auxiliary test robot may be selected.
S2, as shown in fig. 2, fixing the testing device at the end of the auxiliary testing robot, and connecting the testing device with the collecting device, where the collecting device is used to collect the testing data output by the testing device.
In consideration of the diversity of the collision directions in the collision test and the singularity of the test direction of the test equipment, the auxiliary test robot with at least 6 degrees of freedom is selected.
And S3, calculating to obtain the space collision point of the auxiliary test robot B according to the relative position of the tested robot A and the auxiliary test robot B and the space collision point of the tested robot A, wherein each collision point of the auxiliary test robot B forms a collision test set of the auxiliary test robot B in the Cartesian space.
Suppose that a collision point of the measured robot A in the Cartesian space is as follows:
APi＝[X Y Z PBORG]，
wherein [ X Y Z]Indicates the direction of collision, [ P ]BORG]Indicating the location of the impact.
The n collision point positions of the tested robot A form a collision test set of the tested robot A in a Cartesian space of the tested robot A:APi(i＝1,2,L,n)∈{A}。
the direction is opposite when auxiliary test robot B collides with robot A under test at a certain point position, and the position is the same, then an auxiliary test robot B in its Cartesian space's a collision point position is:
wherein,
and the conversion matrix represents the Cartesian space of the tested robot A to the Cartesian space of the auxiliary testing robot B, and is calculated according to the relative positions of the tested robot A and the auxiliary testing robot B during testing.
The n collision point positions of the auxiliary test robot B form a collision test set of the auxiliary test robot B in a Cartesian space:BPi(i＝1,2,L,n)∈{B}。
it should be noted that the inverse kinematics of the robot kinematics can be solved for the collision test set { B } by using an inverse kinematics solving function ikine, so as to obtain a joint position set { q } of the auxiliary robotBThus facilitating control of the joint motion of the auxiliary robot in the actual control process.
S4, as shown in fig. 3, under the quasi-static test condition, controlling the end of the auxiliary test robot B to move to the collision point, controlling the tested robot a to impact the testing device at the end of the auxiliary test robot B at the collision point, and recording the peak value and the steady-state value of the collision force when the tested robot a collides with the auxiliary test robot B by the collecting device, wherein the specific process is as follows:
s41, controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPiAnd the acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot A collides with the auxiliary testing robot B.
Due to collision pointAPiAndBPithe direction is opposite and the position is the same in the respective cartesian space, so the collision process is also the process of the tested robot a striking the test equipment at the end of the auxiliary test robot B. During the collision, the acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot A collides with the auxiliary testing robot B.
S42, the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision pointAPi+1And the tail end of the auxiliary test robot B is operated to the next collision pointBPi+1And carrying out the next test.
After each collision occurs, a single collision end signal is given by the acquisition equipment or an operator.
S43, judging whether all the collision point positions in the collision test set of the auxiliary test robot B are tested completely, if so, storing data, and ending the test; otherwise, returning to the step S42, continuing to control the tested robot a to impact the test equipment at the end of the auxiliary test robot B at the next collision point until all collision points are tested.
It should be noted that, in the quasi-static test case, the auxiliary test robot B does not enter the impedance mode, and the tail end of the auxiliary robot B remains stationary in the process after moving to the collision point and before colliding with the tested robot a.
By adopting the robot collision detection test method provided by the application, the test equipment is fixed at the tail end of the auxiliary test robot, and in the test process, the space position of the test equipment can be changed by rotating the joint of the auxiliary test robot without reinstalling or fixing the test equipment, so that the test efficiency is greatly improved. In addition, since the relative position of the auxiliary test robot and the tested robot is known and the collision test set of the auxiliary test robot in the space is obtained through calculation, the auxiliary test robot can be controlled to accurately reach the collision point of the tested robot.
In order to simulate the dynamic process of position deviation caused by impact of personnel in the real robot and human collision process, the robot collision detection test method further comprises the following steps:
s5, as shown in fig. 4, under the dynamic test condition, making the auxiliary testing robot B enter into an impedance mode, controlling the end of the auxiliary testing robot B to move to the collision point, controlling the tested robot a to impact the testing device at the collision point, and recording the peak value and the steady-state value of the collision force when the tested robot a collides with the auxiliary testing robot B by the collecting device, wherein the specific process is as follows:
and S51, adjusting the auxiliary robot to enter an impedance mode, and adjusting appropriate impedance parameters to simulate the process of the tested robot A impacting a real object or a person.
Specifically, compliance is achieved by adjusting the dynamic characteristics between the location of the auxiliary test robot impact and the impact force.
The relation between the resilience force F after the auxiliary test robot deviates from the position before impact after being impacted and the motion state of the auxiliary test robot after being impacted is as follows:
in the formula,
indicating the acceleration of the auxiliary test robot after an impact,
representing the velocity of the auxiliary test robot after impact and x representing the offset displacement of the auxiliary test robot after impact. r, c and k all represent impedance coefficients, wherein r is used for simulating the weight of a human body and can take the value of r as 40-70 kg; c is used for simulating the elasticity of the skin surface of a human body, and the value of c can be 0-100N/(m/s); k is used for simulating the resistance of the skin surface of a human body, and the value of k can be 50-500N/m.
S52, controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPi(ii) a In the collision process, the acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot A collides with the auxiliary testing robot B.
S53, the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision pointAPi+1And the tail ends of the auxiliary test robots B are all operated to the next collision pointBPi+1And carrying out the next test.
After each collision occurs, a single collision end signal is given by the acquisition equipment or an operator.
S54, judging whether all the collision point positions in the collision test set of the auxiliary test robot B are tested completely, if so, storing data, and ending the test; otherwise, returning to the step S53, continuing to control the tested robot a to impact the test equipment at the end of the auxiliary test robot B at the next collision point until all collision points are tested.
In the dynamic test situation, the auxiliary test robot B enters the impedance mode, and the tail end of the auxiliary test robot B simulates the process of being collided and flown after moving to the collision point and before colliding with the tested robot a.
By adopting the robot collision detection test method provided by the application, the auxiliary test robot is set to be in the impedance mode, and the appropriate impedance parameters are adjusted, so that the biomechanics characteristic of the human body can be simulated, and the real collision process of the tested robot and the human can be better simulated.
The embodiments of the present application described above may be implemented in various hardware, software code, or a combination of both. For example, embodiments of the present application may also represent program code for performing the above-described methods in a data signal processor. The present application may also be directed to various functions performed by a computer processor, digital signal processor, microprocessor, or field programmable gate array. The processor described above may be configured in accordance with the present application to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed to represent different programming languages and different formats or forms. Different target platforms may also be represented to compile the software code. However, different code styles, types, and languages of software code and other types of configuration code for performing tasks according to the present application do not depart from the spirit and scope of the present application.
The foregoing represents only exemplary embodiments of the present application and all equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application should fall within the protection scope of the present application.
Claims (6)
1. A robot collision detection test method is characterized by comprising the following steps:
selecting an auxiliary test robot and a tested robot, and determining the installation distance between the auxiliary test robot and the tested robot;
fixing the test equipment at the tail end of the auxiliary test robot, and connecting the test equipment with acquisition equipment, wherein the acquisition equipment is used for acquiring test data output by the test equipment;
calculating to obtain the space collision point of the auxiliary test robot according to the relative position of the tested robot and the auxiliary test robot and the space collision point of the tested robot, wherein each space collision point of the auxiliary test robot forms a collision test set of the auxiliary test robot in a Cartesian space;
under the quasi-static test condition, the tail end of the auxiliary test robot is controlled to move to a collision point position, the tested robot is controlled to impact test equipment at the tail end of the auxiliary test robot at the collision point position, and the acquisition equipment records the peak value and the steady-state value of collision force when the tested robot collides with the auxiliary test robot;
under the dynamic test condition, make auxiliary test robot get into the impedance mode, control auxiliary test robot's end moves to the collision point position to control the robot under test and strike auxiliary test robot terminal test equipment at the collision point position, the peak value and the steady state value of collision power when gathering equipment record robot under test and auxiliary test robot collision, its specific process is:
adjusting the auxiliary robot to enable the auxiliary robot to enter an impedance mode, and adjusting impedance parameters to simulate the process that the robot A to be tested impacts a real object or a person;
controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPi(ii) a The method comprises the following steps that a collecting device records the peak value and the steady-state value of collision force when a tested robot A collides with an auxiliary testing robot B;
the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision pointAPi+1And the tail ends of the auxiliary test robots B all run to the next collision pointBPi+1Carrying out the next test;
judging whether all the collision point locations are tested, if so, saving the data, and ending the test; otherwise, the tested robot A is continuously controlled to impact the test equipment at the tail end of the auxiliary test robot B at the next collision point until all collision points are tested.
2. The robot collision detection test method according to claim 1, wherein an installation distance between the auxiliary test robot and the robot under test is required to satisfy: the working space of the auxiliary test robot covers the collision detection test space of the tested robot.
3. The robot collision detection test method according to claim 1, wherein the auxiliary test robot has at least 6 degrees of freedom.
4. The robot collision detection test method according to claim 1, wherein the specific process of calculating the collision test set of the auxiliary test robot according to the relative position of the tested robot and the auxiliary test robot and the spatial collision point location of the tested robot is as follows:
suppose that a collision point of the measured robot A in the Cartesian space is as follows:
APi＝[X Y Z PBORG]，
wherein [ X Y Z]Indicates the direction of collision, [ P ]BORG]Indicating a collision location;
the n collision point positions of the tested robot A form a collision test set of the tested robot A in a Cartesian space of the tested robot A:APi(i＝1,2,…,n)∈{A}；
the direction is opposite when auxiliary test robot B collides with robot A under test in a certain point position, and the position is the same, then an auxiliary test robot B in its Cartesian space's a collision point position is:
wherein,
a transformation matrix representing the Cartesian space of the tested robot A to the Cartesian space of the auxiliary testing robot B, which is calculated according to the relative positions of the tested robot A and the auxiliary testing robot B during testingCalculating to obtain;
the n collision point positions of the auxiliary test robot B form a collision test set of the auxiliary test robot B in a Cartesian space:BPi(i＝1,2,…,n)∈{B}。
5. the robot collision detection test method according to claim 1, wherein in the quasi-static test situation, the specific process of controlling the tail end of the auxiliary test robot to move to the collision point of the auxiliary test robot and controlling the tested robot to impact the test equipment at the collision point of the tested robot on the tail end of the auxiliary test robot is as follows:
controlling the tail end of the auxiliary test robot B to move to the collision pointBPiControlling the tail end of the tested robot A from the collision direction [ X Y Z ]]Point of impact collisionAPiThe acquisition equipment records the peak value and the steady-state value of the collision force when the tested robot A collides with the auxiliary testing robot B;
the tested robot A and the auxiliary testing robot B acquire a single collision end signal, and the tail end of the tested robot A runs to the next collision point positionAPi+1And the tail end of the auxiliary test robot B runs to the next collision pointBPi+1Carrying out the next test;
judging whether all the collision point locations are tested, if so, saving the data, and ending the test; otherwise, the tested robot A is continuously controlled to impact the test equipment at the tail end of the auxiliary test robot B at the next collision point until all collision points are tested.
6. The robot collision detection test method according to claim 1, wherein the auxiliary robot is adjusted to enter an impedance mode, and the impedance parameter is adjusted to simulate a relationship between a rebound force F after the auxiliary test robot is deviated from a position before collision after the collision and a motion state after the auxiliary test robot is collided in a process that the tested robot a collides with a real object or a person, as follows:
in the formula,
indicating the acceleration of the auxiliary test robot after an impact,
representing the speed of the auxiliary test robot after being impacted, and x representing the offset displacement of the auxiliary test robot after being impacted;
r, c and k all represent impedance coefficients, wherein r is used for simulating the weight of a human body, c is used for simulating the elasticity of the skin surface of the human body, and k is used for simulating the resistance of the skin surface of the human body.
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