CN115890666A - Robot, collision protection method and device thereof, and storage medium - Google Patents
Robot, collision protection method and device thereof, and storage medium Download PDFInfo
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- CN115890666A CN115890666A CN202211443665.0A CN202211443665A CN115890666A CN 115890666 A CN115890666 A CN 115890666A CN 202211443665 A CN202211443665 A CN 202211443665A CN 115890666 A CN115890666 A CN 115890666A
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Abstract
The application relates to the field of robots and provides a robot, a collision protection method and device thereof and a storage medium. The method comprises the following steps: acquiring the collision amplitude of a mechanical arm of the robot; when the collision amplitude is smaller than a preset amplitude threshold value, controlling the motion of the mechanical arm according to the feedforward torque, the feedback torque and a preset feedback torque amplitude constant of the joint of the mechanical arm; and when the collision amplitude is greater than or equal to a preset amplitude threshold value, controlling the movement of the mechanical arm by adopting a zero-force control mode. Therefore, when the mechanical arm encounters a smaller-amplitude collision, the mechanical arm can achieve compliant response, and when the collision amplitude of the mechanical arm is larger than or equal to a preset amplitude threshold value, the collision is reduced to the greatest extent through a zero-force control mode, so that collision damage is effectively reduced, and the safety of the robot is improved.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot, a collision protection method and apparatus thereof, and a storage medium.
Background
With the development of intelligent technology, new requirements on the intelligence and safety of the robot are also put forward. For example, during the use of the robot, the robot may collide with an object in the external environment, and collision protection is required to be adopted, so that the damage degree of the robot and the object in the external environment is minimized, and the safety of the object in the external environment and the robot is guaranteed to the maximum extent.
In the current collision protection method, the external force is generally estimated first, and then collision detection is performed based on the estimated external force. When it is estimated that a collision may occur, the collision is avoided by the compliance control. The method needs to obtain accurate physical parameters of the mechanism in advance, the accurate physical parameters of the mechanism are more and more difficult to obtain along with the increase of the mechanism body size, the difficulty in collision detection through external force estimation is more and more high, the damage degree of the robot and the object in the external environment is not convenient to effectively reduce, and the safety of the robot and the object in the external environment is not guaranteed.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot, a collision protection method and apparatus for the robot, and a storage medium, so as to solve the problem that, in the prior art, when performing collision protection, it is not beneficial to reducing the damage degree of the robot and an object in an external environment, and to ensuring the safety of the robot and the object in the external environment.
A first aspect of an embodiment of the present application provides a collision protection method for a robot, where the method includes:
acquiring the collision amplitude of a mechanical arm of the robot;
when the collision amplitude is smaller than a preset amplitude threshold value, controlling the motion of the mechanical arm according to the feedforward torque, the feedback torque and a preset feedback torque amplitude constant of the joint of the mechanical arm;
and when the collision amplitude is greater than or equal to the preset amplitude threshold value, controlling the motion of the mechanical arm in a zero-force control mode.
With reference to the first aspect, in a first possible implementation manner of the first aspect, when the collision amplitude is smaller than a predetermined amplitude threshold, controlling the motion of the mechanical arm according to a feed-forward torque, a feedback torque, and a predetermined feedback torque amplitude constant of a joint of the mechanical arm includes:
when the absolute value of the feedback torque is smaller than a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the feedforward torque and the feedback torque;
and when the absolute value of the feedback torque is greater than or equal to a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the feedforward torque and the feedback torque amplitude constant.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, when an absolute value of the feedback torque is greater than or equal to a preset feedback torque magnitude constant, controlling the motion of the mechanical arm according to the feedforward torque and the feedback torque magnitude constant includes:
when the feedback torque is larger than or equal to a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the sum of the feedforward torque and the feedback torque amplitude constant;
and when the feedback torque is smaller than or equal to a negative value of a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the difference value of the feedforward torque and the feedback torque amplitude constant.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the controlling the motion of the mechanical arm in a zero-force control mode includes:
and controlling the motion of the mechanical arm according to the gravity compensation torque of the joint and the damping torque of the joint.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, controlling the motion of the mechanical arm according to the gravity compensation moment of the joint and the damping moment of the joint includes:
and controlling the motion of the mechanical arm according to the sum of the gravity compensation moment of the joint and the damping force resistance.
With reference to the third possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the damping torque is determined according to the joint speed and a damping coefficient of the joint, and the gravity compensation torque is calculated according to an inverse dynamic model of the joint.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, the acquiring a collision amplitude of a mechanical arm of the robot includes:
acquiring an actual position of the joint, and acquiring a desired position of the joint;
determining a collision amplitude of the mechanical arm according to the actual position of the joint and the expected position of the joint.
A second aspect of an embodiment of the present application provides a collision protection apparatus for a robot, the apparatus including:
a collision amplitude acquisition unit for acquiring a collision amplitude of a mechanical arm of the robot;
the first control unit is used for controlling the motion of the mechanical arm according to the feedforward torque, the feedback torque and the preset feedback torque amplitude constant of the joint of the mechanical arm when the collision amplitude is smaller than a preset amplitude threshold value;
and the second control unit is used for controlling the movement of the mechanical arm in a zero-force control mode when the collision amplitude is greater than or equal to the preset amplitude threshold value.
A third aspect of embodiments of the present application provides a robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: when the collision protection is carried out on the robot, the collision amplitude of the mechanical arm of the robot is compared with the preset amplitude threshold value, and when the collision amplitude of the mechanical arm of the robot is smaller than the amplitude threshold value, the motion of the mechanical arm is controlled through the feedforward torque, the feedback torque and the preset feedback torque amplitude constant, so that the mechanical arm can realize flexible response when encountering collision with smaller amplitude; when the collision amplitude of the mechanical arm is larger than or equal to a preset amplitude threshold value, the collision is reduced to the maximum extent through a zero-force control mode, so that the damage of rigid collision to the robot or an external environment object is effectively reduced, and the safety of the robot and the external environment object is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic implementation flow diagram of a collision protection method for a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an implementation of a collision protection method for a robot according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a collision protection apparatus for a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In the collision protection method for the mechanical arm of the robot, if the collision detection is performed by adopting an external force estimation mode, accurate mechanism parameters of the mechanical arm, including information such as the pose and the size of the mechanical arm, need to be obtained in advance. Along with the increase of mechanism's size, it is more and more difficult to obtain the accurate physical parameter of mechanism, and the degree of difficulty that collision detection realized through estimating external force is also bigger and bigger, the effectual degree of damage that reduces the object in robot and the external environment of being inconvenient to and be unfavorable for guaranteeing the safety of the object in robot and the external environment.
Based on the above problem, an embodiment of the present application provides a collision protection method for a robot, as shown in fig. 1, the method includes:
in S101, the collision width of the robot arm is acquired.
The collision amplitude of the mechanical arm of the robot can be dynamically acquired in the moving process of the robot. For example, as shown in the collision protection flowchart shown in fig. 2, the collision amplitude may be determined according to the actual position and the desired position of the robot arm of the robot, and it may be determined whether the joint exceeds the desired motion space based on the collision amplitude.
Wherein, the expected position x of each joint of the mechanical arm of the robot can be obtained according to the control parameter of the motion of the robot e . Acquiring actual positions x of each joint of mechanical arms of the robot according to the arranged sensors such as a displacement sensor, an image sensor and/or a depth sensor cur . Based on the acquired desired position x of the joint e And the actual position x cur And determining the collision amplitude of the mechanical arm of the robot. For example, the desired position x may be determined e And the actual position x cur The size of the distance deviation between the two is determined as the collision amplitude of the mechanical arm.
In a possible implementation, the actual position x of the joint within a predetermined time period in the future may also be estimated based on the current motion state and the control instructions cur From the estimated actual position x cur And estimating the collision amplitude of the mechanical arm of the robot according to the difference between the expected position and the collision amplitude.
When the mechanical arm of the same robot comprises a plurality of joints, the collision amplitude of each joint can be acquired respectively. And judging whether the joint is in the expected motion space or not based on the acquired collision amplitude.
In S102, when the collision amplitude is smaller than a predetermined amplitude threshold, the motion of the robot arm is controlled according to the feedforward torque, the feedback torque, and a predetermined feedback torque amplitude constant of the joint of the robot arm.
After the collision amplitude of the joints of the robot arm is acquired, the collision amplitude is compared with a preset amplitude threshold value. If the collision amplitude is smaller than the preset amplitude threshold value, the fact that the deviation between the current position and the expected position is smaller than the preset deviation is indicated, the joint of the mechanical arm does not exceed the preset expected movement space, at the moment, the movement of the mechanical arm can be controlled according to the feedforward moment, the feedback moment and the preset feedback moment amplitude constant of the joint of the mechanical arm, and therefore the mechanical arm can generate compliant response timely when encountering small collision, for example, when the collision degree is smaller than the preset degree threshold value.
For example, the desired position x of the joint may be calculated e And the actual position x cur The distance deviation therebetween. If the distance deviation is smaller than a preset deviation threshold value, the collision amplitude of the joint can be considered to be smaller than a preset amplitude threshold value, the position of the mechanical arm does not exceed the expected motion space, and the feedforward torque tau of the joint of the mechanical arm can be used as the feedforward torque ff Feedback torque tau fb And a predetermined feedback torque amplitude constant tau a And controlling the motion of the mechanical arm, and after amplitude limiting is performed according to the feedforward torque of the joint, the mechanical arm can generate compliant response in time when encountering small collision.
Wherein the feedforward torque tau of the joint of the mechanical arm ff Can vary according to joint expectation e (including as desired angle and/or desired displacement), desired velocity v e And a desired acceleration a e And (4) carrying out inverse dynamics analysis to obtain the product. Feedback torque tau of joint of mechanical arm fb Variable q may be expected for a joint e (including as desired angle and/or desired displacement), desired velocity v e Combining the current joint variable q of the mechanical arm cur (including, e.g., the current angle and/or current displacement) andcurrent joint velocity v cur And carrying out proportional differential calculation.
Determining the feedforward torque tau of the mechanical arm joint ff Feedback moment tau fb Then, the preset feedback moment amplitude constant tau is combined a I.e. the control torque tau to be sent to the motors of the individual joints can be determined e . Wherein, the feedback moment amplitude constant tau a The level of compliance response can be adjusted, and the feedback torque amplitude constant tau can be determined according to experimental data statistics a The numerical value of (c).
Determining the control torque tau transmitted to the motors of the individual joints when the impact amplitude is less than a predetermined amplitude threshold value e First, the absolute value of the feedback torque may be compared with a preset feedback torque amplitude constant, and if the absolute value of the feedback torque is smaller than the preset feedback torque amplitude constant, the feedback torque may be determined according to the feedforward torque τ ff And the feedback torque tau fb Determining the control moment tau of a joint e For controlling the movement of the robotic arm. For example, as shown in FIG. 2, the feed forward torque τ can be adjusted ff And the feedback torque tau fb As the control moment tau of the joint e And controlling the movement of the mechanical arm.
If the absolute value of the feedback torque is greater than or equal to the preset feedback torque amplitude constant, the feedforward torque τ can be used ff And the feedback moment amplitude constant tau a Determining a control moment tau of a joint e 。
For example, when the feedback torque τ fb Greater than or equal to a preset feedback torque amplitude constant tau a The feed-forward torque tau can be adjusted ff And the feedback moment amplitude constant tau a As the control moment tau of the joint e And controlling the motion of the steering engine of the mechanical arm.
When the moment tau is fed back fb Less than or equal to a predetermined feedback torque amplitude constant tau a When the value of (d) is negative, the feedforward torque tau is adjusted ff And the feedback moment amplitude constant tau a As the control moment tau of the joint e And controlling the motion of the steering engine of the mechanical arm.
As shown in FIG. 2, the control moment τ of each joint is determined when the impact amplitude is less than a predetermined amplitude threshold e Can be expressed as:
wherein, tau fb For the feedback moment of the joint, τ ff Is a feed-forward moment of the joint, tau e For control moment of the joint, τ a Is the feedback moment amplitude constant of the joint. Based on the calculation formula, the control moment tau of each joint can be obtained e 。
I.e. at the absolute value of the feed-forward moment tau fb When | is smaller, the feedforward moment τ is calculated ff With feedback torque τ fb Determining the control moment tau of the joint e . At the absolute value of the feedforward moment | τ fb If | is larger, if the feedforward moment τ is larger ff Greater than the constant tau of the feedback moment amplitude a According to the feed-forward torque tau ff And the feedback moment amplitude constant tau a To determine the control moment tau of the joint e . If the feed-forward moment τ ff Negative value-tau smaller than feedback moment amplitude constant a Then according to the feedforward torque tau ff And feedback moment amplitude constant τ a Determines the control moment tau of the joint e 。
In S103, when the collision amplitude is greater than or equal to the predetermined amplitude threshold, the movement of the robot arm is controlled by being in a zero-force control mode.
When the collision amplitude is greater than or equal to the predetermined amplitude threshold, it may be understood that the collision amplitude of the joint of the robot arm is greater than or equal to the predetermined amplitude threshold, or the displacement deviation between the actual position and the desired position of the joint of the robot arm exceeds the predetermined deviation threshold, or the position of the joint of the robot arm is outside the desired movement space, and at this time, the robot arm may have a large amplitude collision, and the movement of the robot arm may be controlled in the zero-force control mode.
Wherein, zero force control moduleWhen controlling the movement of the mechanical arm, the gravity compensation moment tau according to the joint can be included g Damping moment tau of the joint v Controlling the movement of the robotic arm.
Wherein the gravity of the joint compensates the moment tau g The gravity compensation torque tau corresponding to the joint can be obtained by inverse dynamic analysis according to the current joint variable (the angle of the joint and/or the displacement of the joint) and under the condition that the joint speed is 0 and the joint acceleration is 0 g The compensation device is used for compensating gravity moment generated by the gravity borne by the joint.
Wherein the damping torque tau of the joint v The determination may be based on the current velocity of the joint and the damping coefficient of the joint, e.g. the damping torque may be the current velocity multiplied by the damping coefficient. The damping torque can be used to compensate for the forces generated by the movement velocity of the joint.
Determining the damping torque tau v And gravity compensation moment tau g Summing to obtain control moment T of joint e The control moment can be used for compensating the gravity and the motion acting force of the joint, so that the joint is in a zero-force control mode with zero-force balance, the rigid collision generated by the mechanical arm can be reduced as much as possible, the collision damage degree is reduced, and the use safety is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 is a schematic diagram of a collision protection apparatus for a robot according to an embodiment of the present disclosure, and as shown in fig. 3, the apparatus includes:
a collision amplitude acquiring unit 301, configured to acquire a collision amplitude of a mechanical arm of the robot.
A first control unit 302, configured to, when the collision amplitude is smaller than a predetermined amplitude threshold, control a motion 303 of the mechanical arm according to a feed-forward torque, a feedback torque, and a predetermined feedback torque amplitude constant of a joint of the mechanical arm.
And the second control unit is used for controlling the movement of the mechanical arm in a zero-force control mode when the collision amplitude is greater than or equal to the preset amplitude threshold value.
The collision protection device for a robot shown in fig. 3 corresponds to the collision protection method for a robot shown in fig. 1.
Fig. 4 is a schematic view of a robot provided in an embodiment of the present application. As shown in fig. 4, the robot 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42, such as a collision protection program for a robot, stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps in the various robot collision protection method embodiments described above. Alternatively, the processor 40 implements the functions of the modules/units in the above device embodiments when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot 4.
The robot may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a robot 4, and does not constitute a limitation of robot 4, and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used for storing the computer program and other programs and data required by the robot. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the methods described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of collision protection for a robot, the method comprising:
acquiring the collision amplitude of a mechanical arm of the robot;
when the collision amplitude is smaller than a preset amplitude threshold value, controlling the motion of the mechanical arm according to the feedforward torque, the feedback torque and a preset feedback torque amplitude constant of the joint of the mechanical arm;
and when the collision amplitude is greater than or equal to the preset amplitude threshold value, controlling the motion of the mechanical arm in a zero-force control mode.
2. The method of claim 1, wherein when the impact magnitude is less than a predetermined magnitude threshold, controlling the motion of the robotic arm according to a feed-forward torque, a feedback torque, and a predetermined feedback torque magnitude constant of a joint of the robotic arm comprises:
when the absolute value of the feedback torque is smaller than a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the feedforward torque and the feedback torque;
and when the absolute value of the feedback torque is greater than or equal to a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the feedforward torque and the feedback torque amplitude constant.
3. The method of claim 2, wherein controlling the motion of the robotic arm according to the feed-forward torque and the feedback torque magnitude constant when the absolute value of the feedback torque is greater than or equal to a preset feedback torque magnitude constant comprises:
when the feedback torque is larger than or equal to a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the sum of the feedforward torque and the feedback torque amplitude constant;
and when the feedback torque is smaller than or equal to a negative value of a preset feedback torque amplitude constant, controlling the motion of the mechanical arm according to the difference value of the feedforward torque and the feedback torque amplitude constant.
4. The method of claim 1, wherein controlling the motion of the robotic arm by being in a zero-force control mode comprises:
and controlling the motion of the mechanical arm according to the gravity compensation moment of the joint and the damping moment of the joint.
5. The method of claim 4, wherein controlling the motion of the robotic arm as a function of the gravity compensation torque of the joint and the damping torque of the joint comprises:
and controlling the motion of the mechanical arm according to the sum of the gravity compensation moment of the joint and the damping force resistance.
6. The method of claim 4, wherein the damping torque is determined from the joint velocity and a damping coefficient of the joint, and the gravity compensation torque is calculated from an inverse power model of the joint.
7. The method of claim 1, wherein obtaining a collision amplitude of a robotic arm of the robot comprises:
acquiring an actual position of the joint, and acquiring a desired position of the joint;
determining a collision amplitude of the mechanical arm according to the actual position of the joint and the expected position of the joint.
8. A collision protection apparatus for a robot, the apparatus comprising:
a collision amplitude acquisition unit for acquiring a collision amplitude of a mechanical arm of the robot;
the first control unit is used for controlling the motion of the mechanical arm according to the feedforward torque, the feedback torque and the preset feedback torque amplitude constant of the joint of the mechanical arm when the collision amplitude is smaller than a preset amplitude threshold value;
and the second control unit is used for controlling the movement of the mechanical arm in a zero-force control mode when the collision amplitude is greater than or equal to the preset amplitude threshold value.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN116442240B (en) * | 2023-05-26 | 2023-11-14 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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