CN116749196A - Multi-axis mechanical arm collision detection system and method and mechanical arm - Google Patents
Multi-axis mechanical arm collision detection system and method and mechanical arm Download PDFInfo
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- CN116749196A CN116749196A CN202310927362.4A CN202310927362A CN116749196A CN 116749196 A CN116749196 A CN 116749196A CN 202310927362 A CN202310927362 A CN 202310927362A CN 116749196 A CN116749196 A CN 116749196A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The application discloses a system and a method for detecting collision of a mechanical arm and the mechanical arm, wherein the system comprises: the joint detection assembly is arranged at each joint of the multi-axis mechanical arm, obtains the current change value of the driving motor at each joint when the surface of the multi-axis mechanical arm collides with an obstacle, and calculates the collision moment value of the corresponding shaft when collision occurs according to the current change value; the electronic skin detection assembly is at least arranged on the outer surfaces of the arm sections of the plurality of shafts far away from the tail end of the multi-shaft mechanical arm, and collision positions and collision pressure values when the surfaces of the corresponding arm sections collide with obstacles are obtained; the collision control component judges whether the mechanical arm collides or not based on the collision moment value and the collision position and the collision pressure value so as to control the mechanical arm to avoid or retract. The joint current loop detection function of the mechanical arm and the electronic skin detection component of the mechanical arm are combined, so that whether the mechanical arm collides or not is judged by combining the collision moment value and the collision pressure value, and the accuracy and the reliability of collision force detection and collision position detection are improved.
Description
Technical Field
The application relates to the technical field of mechanical arm safety, in particular to a multi-axis mechanical arm collision detection system and method and a mechanical arm.
Background
In recent years, mechanical arms are increasingly used in the fields of aerospace, industry, service industry and the like. In these complex application environments, some robotic arms may allow a worker to stand in close proximity, together with performing the task of operation. Among them, physical interactions (pHRI) between a person and a robot arm, including collisions between robot arms and humans, are unavoidable. In this case, the robot arm may cause great damage to surrounding objects, human beings, and even the robot arm body. Therefore, it is important to detect the position and size of the collision accurately in time.
Currently, one common collision detection method is to judge whether collision occurs with an external object/person through a current loop arranged at a joint of a mechanical arm and through the change of a current detection value; and the motor at the joint outputs force to drive the mechanical arm to move, otherwise, if the mechanical arm encounters an obstacle, the mechanical arm is impacted, the joint correspondingly reacts, the current correspondingly changes, whether the mechanical arm collides or not is judged according to the instantaneous current value, and the mechanical arm is controlled to perform deceleration or stop operation.
However, the above method has high requirements on the operation state of the joint, and the judgment of the collision of the mechanical arm can be interfered if friction force or other environmental factors change during the operation process; meanwhile, in the collision process, the collision state is a process change from initial contact to final collision, the joint current change is correspondingly smaller due to small contact force in the initial collision state, the joint current change for detecting the collision can not be judged normally or is delayed, the response of the mechanical arm to the collision is correspondingly delayed, and the adjustment reaction after the collision is carried out is too late.
Disclosure of Invention
The embodiment of the application aims to provide a multi-axis mechanical arm collision detection system and method, and a mechanical arm, wherein the joint current loop detection function of the mechanical arm and an electronic skin detection assembly of the mechanical arm are combined, so that the collision moment value and the collision pressure value of the joint current loop detection function and the electronic skin detection assembly are combined to judge whether the mechanical arm collides, and the accuracy and the reliability of the mechanical arm collision force detection and the collision position detection are improved.
To solve the above technical problem, a first aspect of an embodiment of the present application provides a multi-axis mechanical arm collision detection system, including: a joint detection assembly, an electronic skin detection assembly, and a collision control assembly;
the joint detection assembly is arranged at each joint of the multi-axis mechanical arm, obtains the current change value of the driving motor at each joint when the surface of the multi-axis mechanical arm collides with an obstacle, and calculates the collision moment value of the corresponding shaft when collision occurs according to the current change value;
the electronic skin detection assembly is at least arranged on the outer surfaces of arm sections of a plurality of shafts far away from the tail end of the multi-shaft mechanical arm, and collision positions and collision pressure values when the surfaces of the arm sections collide with the obstacle are obtained;
the collision control assembly is respectively and electrically connected with the joint detection assembly and the electronic skin detection assembly, and judges whether the mechanical arm collides or not based on the collision moment value and combined with the collision position and the collision pressure value so as to control the mechanical arm to avoid or retract.
Further, the electronic skin detection assembly comprises: a plurality of collision detection units;
the collision control assembly is respectively and electrically connected with the plurality of collision detection units and receives collision detection signals of each collision detection unit when the mechanical arm collides.
Further, the collision detection unit receives a collision detection signal of at least one collision detection unit when the collision detection unit collides with the obstacle, and calculates the at least one collision detection signal based on a finite difference method and an overdetermined linear equation set to determine a collision position and a collision pressure value of the mechanical arm.
Further, the collision detection unit is a strain gauge;
the strain gages are uniformly distributed along the axial direction and the circumferential direction of the arm segment of each shaft far away from the tail end of the multi-shaft mechanical arm.
Further, the collision detection unit is a printed flexible sensor;
the plurality of printed flexible sensors are uniformly distributed along the axial direction and the circumferential direction of the arm section of each shaft far away from the tail end of the multi-shaft mechanical arm.
Further, when the arm segments connected with the plurality of shafts close to the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs according to the collision moment value acquired by the joint detection component and correspondingly controls the multi-axis mechanical arm to avoid or retract;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract; or alternatively, the process may be performed,
when the arm sections connected with the plurality of shafts far away from the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Further, when the arm segments connected with the plurality of shafts far from the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs or not according to a first preset proportion value of the collision pressure value acquired by the electronic skin detection component and a second preset proportion value of the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract; or alternatively, the process may be performed,
the collision control component judges whether collision occurs or not according to a first preset proportion value of the collision pressure value obtained by the electronic skin detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Further, the numerical range of the first preset proportion value is 70% -100%;
the numerical range of the second preset proportion value is 0% -30%.
Accordingly, a second aspect of the present application provides a method for detecting a collision of a multi-axis mechanical arm, based on the system for detecting a collision of a multi-axis mechanical arm, the method comprising the following steps:
acquiring a collision moment value detected by the joint detection assembly and a collision position and collision pressure value detected by the electronic skin detection assembly;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm close to the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision moment value acquired by the joint detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract; or alternatively, the process may be performed,
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Accordingly, a third aspect of the present disclosure provides a robot arm, including the robot arm collision detection system described above.
Accordingly, a fourth aspect of the present application provides an electronic device, comprising: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by the one processor, and the instructions are executed by the one processor, so that the at least one processor executes the mechanical arm collision detection method.
Accordingly, a fifth aspect of an example of the present application provides a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the above-described robot collision detection method.
The technical scheme provided by the embodiment of the application has the following beneficial technical effects:
the joint current loop detection function of the mechanical arm and the electronic skin detection component of the mechanical arm are combined, so that the collision moment value and the collision pressure value of the joint current loop detection function and the electronic skin detection component are combined to judge whether the mechanical arm collides, and compared with the detection which only depends on the current loop, the accuracy and the reliability of the detection of the collision force and the detection of the collision position of the mechanical arm are remarkably improved; compared with full coverage detection which relies on electronic skin alone, the cost is obviously reduced; meanwhile, compared with collision detection of a single sensor, the sensor is combined, safety redundancy is increased, and the safety effect is better.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical arm provided with a joint detection assembly and an electronic skin detection assembly according to an embodiment of the present application;
fig. 2 is a flowchart of a method for detecting a collision of a mechanical arm according to an embodiment of the present application.
Detailed Description
The objects, technical solutions and advantages of the present application will become more apparent by the following detailed description of the present application with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present application.
Referring to fig. 1, a first aspect of an embodiment of the present application provides a multi-axis mechanical arm collision detection system, including: a joint detection assembly, an electronic skin detection assembly, and a collision control assembly; the joint detection assembly is arranged at each joint of the multi-axis mechanical arm, obtains the current change value of the driving motor at each joint when the surface of the multi-axis mechanical arm collides with an obstacle, and calculates the collision moment value of the corresponding shaft when collision occurs according to the current change value; the electronic skin detection assembly is at least arranged on the outer surfaces of the arm sections of the plurality of shafts far away from the tail end of the multi-shaft mechanical arm, and collision positions and collision pressure values when the surfaces of the corresponding arm sections collide with obstacles are obtained; the collision control assembly is respectively and electrically connected with the joint detection assembly and the electronic skin detection assembly, and judges whether the mechanical arm collides or not based on the collision moment value and the combination of the collision position and the collision pressure value so as to control the mechanical arm to avoid or retract.
The collision control component in the mechanical arm collision detection system directly judges that the mechanical arm collides when the collision moment value is larger than a preset moment threshold value, and controls the mechanical arm to stop moving or retract for a preset distance; if the collision moment value is smaller than or equal to the preset moment threshold value, the collision control component continues to judge whether the collision pressure value is larger than the preset pressure threshold value, if the collision pressure value is larger than the preset pressure threshold value, the mechanical arm is controlled to stop moving or retract for a preset distance, if the collision pressure value is smaller than or equal to the preset pressure threshold value, the mechanical arm is judged to not collide, and the mechanical arm is controlled to keep the current moving state.
Specifically, the electronic skin detection assembly includes: a plurality of collision detection units; the collision control assembly is respectively and electrically connected with the plurality of collision detection units and receives collision detection signals of each collision detection unit when the mechanical arm collides.
Further, the collision detection unit receives collision detection signals of at least one collision detection unit which collides when the at least one collision detection unit collides with the obstacle, and calculates the at least one collision detection signal based on a finite difference method and an overdetermined linear equation set to determine the collision position and the collision pressure value of the mechanical arm.
Alternatively, in one embodiment of the present application, the collision detecting unit may employ a strain gauge; the strain gages are uniformly distributed along the axial direction and the circumferential direction of the arm segment of each shaft far away from the tail end of the multi-shaft mechanical arm.
The resistance change of the strain gauge can reflect the collision pressure of the mechanical arm and the obstacle. In the strain gauge array or combination, the strain gauge is respectively stuck to the upper surface and the lower surface of the same position along the x-direction and the y-direction of the mechanical arm, the strain gauge is equally spaced along the x-direction and the y-direction, the strain gauge is numbered, and the collision occurrence positions can be reflected by different strain gauge numbers.
If a single strain gauge outputs a collision detection signal, reflecting that the position is collided; if the plurality of strain gauges output collision detection signals, the actual collision position and the collision force can be obtained by calculating the output values of the plurality of strain gauges. Or converting into the concave condition of the electronic skin, for example, solving the strain of the strain gauge based on a finite difference method and an overdetermined linear equation system to obtain the concave value of the surface of the soft material.
Specifically, a strain gauge is attached to the outer surface of the mechanical arm, meanwhile, the magnitude of force is calculated by the current loop at a relatively accurate position of the current loop through the current detection function (namely the current loop) of the joint, and the strain gauge is used in a dead zone or an inaccurate place of the current loop. At the same time, two of them can be used at the same time, and the signals of two of them can be detected at the same time to make contrast or combine to raise accuracy. Because the judgment of the current ring on the position is fuzzy, the joint current ring is matched with the implementation scheme of the strain gauge, the position information with higher precision can be obtained, and more accurate collision information can be obtained through the calculation of the current ring.
In addition, because the judgment of the current ring on the position is fuzzy, the number of strain gauges arranged on the outer surface of the mechanical arm can be correspondingly reduced at the high moment of the joint current ring because the detection of the collision by the current ring is relatively accurate; at the small moment of the joint current ring, because the accuracy of the current ring in judging the collision position is lower, the number of the strain gauges arranged on the outer surface of the mechanical arm can be correspondingly increased, so that the optimal selection of the arrangement of the strain gauges is realized.
Alternatively, in another embodiment of the application, the collision detecting unit is a printed flexible sensor; the plurality of printed flexible sensors are uniformly distributed along the axial direction and the circumferential direction of the arm section of each shaft far away from the tail end of the multi-shaft mechanical arm.
The plurality of printing flexible sensors on the outer surface of the mechanical arm balance the collision detection performance and the cost, the larger the area and the larger the number of the printing flexible sensors on the outer surface of the mechanical arm are covered, the higher the collision detection precision is, and the corresponding cost is higher; the fewer the number, the fewer the covered area, the lower the accuracy and the lower the cost. The specific setting areas and the specific setting quantity can be comprehensively evaluated and determined by combining specific applicable environments. Alternatively, the number of strain gages or printed flexible sensors may be reduced to 0 in the arm segment where the current loop is relatively accurate for collision detection.
In order to improve the detection precision, the technical scheme of the application can also adopt the mode that the outer surface of the mechanical arm is entirely covered with the strain gauge or the flexible sensor is printed so as to realize the optimization of the performance.
According to the application, through the strain gauge or the printed flexible sensor arranged on the surface of the mechanical arm, when the mechanical arm collides with an obstacle in the surrounding environment, the specific position of the mechanical arm, which collides with the obstacle, can be obtained, and the collision detection signal and the collision moment value of the joint current ring of the mechanical arm are combined, so that the collision process can be determined as long as the obstacle collides with the mechanical arm, and the mechanical arm is correspondingly controlled to perform state adjustment according to the collision force and the collision position.
Specifically, the state adjustment of the mechanical arm can be set according to factors such as the use environment, the type of the obstacle, the structural strength of the mechanical arm, and the like, the mechanical arm can be selectively stopped after collision occurs, can be selectively retracted for a certain distance to be separated from contact with the obstacle, and can be selectively controlled to bypass the obstacle to continuously move so as to ensure smooth execution of the task.
Further, when the arm sections connected with the plurality of shafts close to the tail end of the multi-axis mechanical arm collide with an obstacle, the collision control assembly judges whether collision occurs according to the collision moment value obtained by the joint detection assembly and correspondingly controls the multi-axis mechanical arm to avoid or retract. When the arm sections connected with a plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with an obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and correspondingly controls the multi-axis mechanical arm to avoid or retract; or when the arm sections connected with a plurality of shafts far away from the tail end of the multi-axis mechanical arm collide with an obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Further, when the arm segments connected with a plurality of shafts far away from the tail end of the multi-axis mechanical arm collide with an obstacle, the collision control component judges whether collision occurs or not according to the first preset proportion value of the collision pressure value acquired by the electronic skin detection component and the second preset proportion value of the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract; or the collision control component judges whether collision occurs or not according to the first preset proportion value of the collision pressure value obtained by the electronic skin detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Optionally, the numerical range of the first preset proportion value is 70% -100%; the numerical range of the second preset proportion value is 0% -30%.
By combining the collision detection signal of the joint detection assembly and the collision detection signal of the electronic skin detection assembly, the collision strength and the collision position detection with higher precision are realized, the problems that the specific collision position cannot be judged, the collision judgment reaction is slow due to small current value change in the initial stage of collision and the like in the detection of the collision of the joint current ring are overcome, and the safety of the mechanical arm and the safety of people and objects in the surrounding environment are improved.
Accordingly, referring to fig. 2, a second aspect of the present application provides a method for detecting a collision of a multi-axis mechanical arm, based on the system for detecting a collision of a multi-axis mechanical arm, the method includes the following steps:
step S100, a collision moment value detected by the joint detection component and a collision position and collision pressure value detected by the electronic skin detection component are obtained.
When the mechanical arm collides, the collision moment value detected by the joint detection assembly and the collision pressure value detected by the electronic skin detection assembly are changed, the parameter value is obtained, and judgment is carried out according to the parameter change value and the collision position detected.
Step 200, when the arm segments connected with a plurality of shafts near the tail end of the multi-axis mechanical arm collide with an obstacle, the collision control component judges whether collision occurs according to the collision moment value obtained by the joint detection component and correspondingly controls the multi-axis mechanical arm to avoid or retract.
When a plurality of corresponding arm sections of the shafts close to the tail end of the multi-shaft mechanical arm collide, the position and the parameter value detected by the joint detection assembly are accurate, whether collision occurs can be judged only through the collision moment value obtained by the joint detection assembly, the mechanical arm is correspondingly controlled, and the moving track is adjusted.
And when the corresponding arm sections of a plurality of shafts far away from the multi-shaft mechanical arm and close to the tail end collide, two judging methods exist.
One is:
in step S310, when the arm segments connected with the plurality of axes of the multi-axis mechanical arm far from the tail end collide with the obstacle, the collision control component judges whether the collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component, and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or withdraw.
The first judging mode can be to judge whether collision occurs only according to the collision position and the collision pressure value obtained by the electronic skin detection component, and correspondingly control the multi-axis mechanical arm to avoid or retract. The method can also accurately detect and judge the collision process of the multi-axis mechanical arm.
The second step is:
step S320, when the arm sections connected with a plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with an obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
Meanwhile, the second judging mode can also adopt a mode of judging whether collision occurs according to the collision position and the collision pressure value obtained by the electronic skin detecting component and combining the collision moment value obtained by the joint detecting component, and the mode of combining the two detection results to judge the collision process of the multi-axis mechanical arm has the advantages of higher detection precision of the collision pressure value and more accurate detection of the collision position compared with the first judging mode.
In addition, the two judging modes can be adopted at the same time, mutual verification is further carried out through the two judging modes, and the reliability of the collision detection system is improved.
By combining collision detection signals acquired by the electronic skin component, the specific position of the collision of the outer surface of the mechanical arm with the obstacle in the surrounding environment can be further determined, and the subsequent moving state and direction of the mechanical arm are correspondingly adjusted based on the specific collision position, so that the mechanical arm avoids the collided obstacle, and the obstacle is retracted or bypassed to continue moving along a new movement path.
In order to prevent the occurrence of collision misjudgment caused by scratch and other obstacles rather than collision in the moving process of the mechanical arm, the application judges the stability of a collision moment value obtained by a key detection assembly of the mechanical arm, and when the duration time of the collision moment value is longer than a preset moment threshold value, the collision process can be determined to be actually generated and always in a contact state, and the running state of the mechanical arm needs to be timely adjusted at the moment so as to ensure the safety of the mechanical arm equipment and the safety of people and objects in the surrounding environment. When the duration time of the collision moment value larger than the preset moment threshold value is smaller than or equal to the preset duration time, the fact that a certain position of the outer surface of the mechanical arm is in contact with an obstacle can be determined, but the collision moment value is separated from the obstacle currently, and the operation state of the mechanical arm is not required to be adjusted.
Accordingly, a third aspect of the present disclosure provides a robot arm, including the robot arm collision detection system described above.
Accordingly, a fourth aspect of the present application provides an electronic device, comprising: at least one processor; and a memory coupled to the at least one processor; the memory stores instructions executable by a processor, the instructions being executable by the processor to cause the at least one processor to perform the method for detecting a collision of a robotic arm.
Accordingly, a fifth aspect of an example of the present application provides a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the above-described robot collision detection method.
The embodiment of the application aims to protect a system and a method for detecting collision of a mechanical arm and the mechanical arm, wherein the system comprises: a joint detection assembly, an electronic skin detection assembly, and a collision control assembly; the joint detection assembly is arranged at each joint of the multi-axis mechanical arm, obtains the current change value of the driving motor at each joint when the surface of the multi-axis mechanical arm collides with an obstacle, and calculates the collision moment value of the corresponding shaft when collision occurs according to the current change value; the electronic skin detection assembly is at least arranged on the outer surfaces of the arm sections of the plurality of shafts far away from the tail end of the multi-shaft mechanical arm, and collision positions and collision pressure values when the surfaces of the corresponding arm sections collide with obstacles are obtained; the collision control assembly is respectively and electrically connected with the joint detection assembly and the electronic skin detection assembly, and judges whether the mechanical arm collides or not based on the collision moment value and the combination of the collision position and the collision pressure value so as to control the mechanical arm to avoid or retract. The technical scheme has the following effects:
the joint current loop detection function of the mechanical arm and the electronic skin detection assembly of the mechanical arm are combined, and the collision moment value and the collision pressure value of the joint current loop detection function and the electronic skin detection assembly are combined to judge whether the mechanical arm collides or not, so that the accuracy and the reliability of mechanical arm collision force detection and collision position detection are improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the application without departing from the spirit and scope of the application, which is intended to be covered by the claims.
Claims (10)
1. A multi-axis robotic arm collision detection system, comprising: a joint detection assembly, an electronic skin detection assembly, and a collision control assembly;
the joint detection assembly is arranged at each joint of the multi-axis mechanical arm, obtains the current change value of the driving motor at each joint when the surface of the multi-axis mechanical arm collides with an obstacle, and calculates the collision moment value of the corresponding shaft when collision occurs according to the current change value;
the electronic skin detection assembly is at least arranged on the outer surfaces of arm sections of a plurality of shafts far away from the tail end of the multi-shaft mechanical arm, and collision positions and collision pressure values when the surfaces of the arm sections collide with the obstacle are obtained;
the collision control assembly is respectively and electrically connected with the joint detection assembly and the electronic skin detection assembly, and judges whether the mechanical arm collides or not based on the collision moment value and combined with the collision position and the collision pressure value so as to control the mechanical arm to avoid or retract.
2. The multi-axis robot collision detection system of claim 1, wherein,
the electronic skin detection assembly includes: a plurality of collision detection units;
the collision control assembly is respectively and electrically connected with the plurality of collision detection units and receives collision detection signals of each collision detection unit when the mechanical arm collides.
3. The multi-axis robot collision detection system of claim 2, wherein,
the collision detection unit receives collision detection signals of at least one collision detection unit when the collision detection unit collides with the obstacle, and calculates at least one collision detection signal based on a finite difference method and an overdetermined linear equation set to determine the collision position and the collision pressure value of the mechanical arm.
4. The multi-axis robot collision detection system of claim 2, wherein,
the collision detection unit is a strain gauge;
the strain gages are uniformly distributed along the axial direction and the circumferential direction of the arm segment of each shaft far away from the tail end of the multi-shaft mechanical arm.
5. The multi-axis robot collision detection system of claim 2, wherein,
the collision detection unit is a printed flexible sensor;
the plurality of printed flexible sensors are uniformly distributed along the axial direction and the circumferential direction of the arm section of each shaft far away from the tail end of the multi-shaft mechanical arm.
6. The multi-axis robot collision detection system of any of claims 1 to 5, wherein,
when the arm sections connected with the plurality of shafts close to the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs according to the collision moment value acquired by the joint detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract; or alternatively, the process may be performed,
when the arm sections connected with the plurality of shafts far away from the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
7. The robot arm collision detection system of claim 6, wherein,
when the arm segments connected with the plurality of shafts far away from the tail end of the multi-axis mechanical arm collide with the obstacle, the collision control component judges whether collision occurs or not according to a first preset proportion value of the collision pressure value acquired by the electronic skin detection component and a second preset proportion value of the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or withdraw the obstacle; or alternatively, the process may be performed,
the collision control component judges whether collision occurs or not according to a first preset proportion value of the collision pressure value obtained by the electronic skin detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
8. The robot collision detection system of claim 7, wherein,
the numerical range of the first preset proportion value is 70% -100%;
the numerical range of the second preset proportion value is 0% -30%.
9. A multi-axis mechanical arm collision detection method, characterized in that based on the multi-axis mechanical arm collision detection system of any one of claims 1-8, whether each arm segment of the multi-axis mechanical arm collides is judged, comprising the following steps:
acquiring a collision moment value detected by the joint detection assembly and a collision position and collision pressure value detected by the electronic skin detection assembly;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm close to the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision moment value acquired by the joint detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract;
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and correspondingly controls the multi-axis mechanical arm to avoid the obstacle or retract; or alternatively, the process may be performed,
when the arm sections connected with the plurality of shafts of the multi-axis mechanical arm far away from the tail end collide with the obstacle, the collision control component judges whether collision occurs according to the collision position and the collision pressure value acquired by the electronic skin detection component and the collision moment value acquired by the joint detection component, and correspondingly controls the multi-axis mechanical arm to avoid or retract.
10. A robotic arm comprising a robotic arm collision detection system according to any one of claims 1-8.
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