KR20150080050A - Collision sensing apparatus of articulated robot and method using the same - Google Patents
Collision sensing apparatus of articulated robot and method using the same Download PDFInfo
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- KR20150080050A KR20150080050A KR1020130166397A KR20130166397A KR20150080050A KR 20150080050 A KR20150080050 A KR 20150080050A KR 1020130166397 A KR1020130166397 A KR 1020130166397A KR 20130166397 A KR20130166397 A KR 20130166397A KR 20150080050 A KR20150080050 A KR 20150080050A
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- articulated robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a joint articulated robot, and more particularly, to a collision sensing apparatus and method of a joint articulated robot capable of detecting collision with an external object by a sensor.
A robot is a mechanical device that can carry out tasks such as a command or a specific operation provided by a system, and is used for various tasks on behalf of a human. In the meantime, the robot industry has been developed rapidly and has been expanded to research on robots for industrial or special work, robots for home use, educational robots, etc. It is true. In Korea, robots began to be introduced in the late 1960s, and most of them were industrial robots such as manipulators and transfer robots for automation and unmanned production of factories.
In recent years, as the use of robots has diversified, the movement and position of robots have become more complicated. In particular, robots capable of performing similar actions to human beings are being seen as a system that is indispensably required in an environment in which a specific working environment is set based on most people.
When humans and robots share a work space, robots must be able to guarantee human safety as well as work performance. Various studies are being conducted to realize a safe robot.
Research to realize a safe robot largely consists of a technique of predicting and avoiding a collision using a non-contact sensor, a technique of mechanically absorbing a collision force caused by a collision, Can be divided.
The technique of predicting and avoiding the collision to be generated by using the non-contact sensor such as the distance sensor or the image sensor can conceptually guarantee the original safety. However, it is not possible to predict the collision of the sensor on a rectangular area, and it is difficult to apply it to a fast moving manipulator due to uncertainty of image processing and time delay due to a high computational load.
The technique of mechanically absorbing the collision force caused by the collision of the robot has the advantage of securing the safety of the human being even in abnormal operation of the electric field part. However, due to the configuration of the additional mechanism, the size increases, The work performance may be deteriorated.
The technique of detecting the collision of the robot in a short period of time and responding to the collision can be easily applied to the manipulator because there is no need for additional mechanism configuration, and there is no need to consider the rectangular area. In addition, it has the advantage of securing the human safety while maintaining the performance of the conventional robot, and it is attracting attention as a strategy for implementing a safe robot manipulator.
In order to detect a collision occurring in a robot in a short time, studies using a torque sensor, a force sensor, or a tactile sensor have been carried out. However, a torque sensor, a force sensor, or a tactile sensor is expensive.
Accordingly, an object of the present invention is to provide a collision sensing apparatus for a multi-joint robot capable of sensing a collision occurring in a robot using a low-cost sensor and controlling the robot according to whether or not there is collision, and a collision sensing method using the same.
A collision sensing apparatus of a jointed-arm robot according to the present invention includes an input unit for inputting motion information on a motion of a jointed-arm robot, an input unit provided in each of the plurality of joints of the jointed- An acceleration sensor unit for measuring accelerations generated in a plurality of joints, a driving unit for receiving the motion information from the input unit, driving the articulated robot, receiving acceleration information acquired in real time by the acceleration sensor unit, And a control unit for determining whether or not the robot is in a collision state and controlling the articulated robot according to the collision.
In the collision sensing apparatus of the articulated robot according to the present invention, the control unit may include a learning information generating unit that generates learning information through the motion information and the acceleration information acquired by repeating the motion based on the motion information, A determination unit that is learned by the learning information generated from the generation unit and receives acceleration information from the acceleration sensor unit in real time and determines whether the acceleration information is collided with an external object; And a driving unit for driving the robot.
In the collision sensing apparatus of the articulated robot according to the present invention, the determination unit uses a neural network or purging.
In the collision sensing apparatus of the articulated robot according to the present invention, the learning information includes kinematics information and dynamics information, and includes acceleration information obtained by repeating movement through the kinematics information and dynamics information do.
In the collision sensing apparatus of the articulated robot according to the present invention, the controller determines that the collision occurs when the acceleration information measured in real time from the acceleration sensor unit exceeds a threshold value of the acceleration information of the learning information do.
In the collision detection method of a jointed-arm robot according to the present invention, the collision sensing device of the articulated robot receives the motion information on the motion of the articulated robot, the motion information of the jointed- Joint-type robot, the method comprising the steps of: measuring, in real time, an acceleration for a plurality of joints of the articulated robot operated by the robot, the collision sensing device of the articulated robot driving the articulated robot by the motion information, Determining whether to collide with an external object by receiving the acceleration information, and controlling the articulated robot according to whether the robot collides with an external object.
In the collision sensing method of a jointed-arm robot according to the present invention, the collision sensing device of the articulated robot estimates motion information of the articulated robot and acceleration information obtained by repeating an operation according to the motion information, Generating learning information through the collision sensing apparatus of the articulated robot, and learning the collision sensing apparatus of the articulated robot with the learning information.
In the collision sensing method of the articulated robot according to the present invention, in the controlling step, the collision sensing apparatus determines that the collision occurs when the acquired acceleration information exceeds a threshold value for the acceleration information of the learning information .
The collision sensing apparatus of the articulated robot according to the present invention can detect a collision occurring in the articulated robot using a low-cost acceleration sensor unit, thereby realizing a collision sensing apparatus at a low cost.
FIG. 1 is a view illustrating a configuration of a multi-joint robot according to an embodiment of the present invention.
2 is a block diagram illustrating the configuration of a collision sensing apparatus for a multi-joint robot according to an embodiment of the present invention.
3 is a flowchart illustrating a collision detection method for a jointed-arm robot according to an embodiment of the present invention.
In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.
The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.
Hereinafter, a
2 is a block diagram showing a configuration of a
Referring to FIGS. 1 and 2, a
The
The
As the
The
The
The learning
Here, the learning information may include kinematics information and dynamics information, and may include acceleration information obtained by repeating movement through kinematics information and dynamics information.
The learning
The
As the
The
The
In particular, the
Therefore, the collision sensing
Hereinafter, a method of detecting a collision of the articulated
3 is a flowchart illustrating a collision detection method for a jointed-arm robot according to an embodiment of the present invention.
Referring to FIGS. 1 to 3, in step S10, the
Next, in step S20, the
Next, in step S30, the
Next, in step S40, the
Next, in step S50, the
If it is determined in step S50 that there is no collision, the
If it is determined in step S50 that there is a collision, the
It should be noted that the embodiments disclosed in the drawings are merely examples of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.
10: input unit 20:
21: learning information generation unit 22:
23: driving unit 24:
30: articulated robot 31: acceleration sensor unit
100: Collision detection device of articulated robot
Claims (8)
An acceleration sensor unit installed in each of the plurality of joints of the articulated robot for measuring an acceleration occurring in a plurality of joints of the articulated robot operated by the motion information;
Wherein the acceleration sensor unit receives acceleration information obtained in real time by the acceleration sensor unit to determine whether or not the acceleration sensor unit collides with an external object, A control unit for controlling the control unit;
Wherein the collision detection apparatus comprises:
Wherein,
A learning information generating unit for generating learning information through the motion information and the acceleration information acquired by repeating an operation according to the motion information;
A determination unit that is learned by the learning information generated by the learning information generation unit and receives acceleration information from the acceleration sensor unit in real time and determines whether the acceleration information is collided with an external object;
A driving unit for driving the articulated robot according to whether the collision is judged by the judging unit;
Wherein the collision detection apparatus comprises:
Wherein the determination unit uses a neural network or purging.
Wherein the learning information includes kinematics information and dynamics information, and includes acceleration information obtained by repeating motion through the kinematics information and the dynamics information.
Wherein the control unit determines that a collision occurs when the acceleration information measured in real time from the acceleration sensor unit exceeds a threshold value of the acceleration information of the learning information.
Measuring, in real time, accelerations of a plurality of joints of the articulated robot operated by the motion information received by the collision sensing apparatus of the articulated robot;
Wherein the collision sensing device of the articulated robot drives the articulated robot by the motion information and receives the acceleration information acquired in real time to determine whether or not to collide with an external object, ;
And detecting a collision of the robot.
Generating learning information based on motion information of the articulated robot and acceleration information obtained by repeating an operation according to the motion information;
Learning the collision sensing apparatus of the articulated robot with the learning information;
Further comprising the step of detecting a collision of the robot.
Wherein the collision sensing apparatus of the articulated robot determines that the collision has occurred when the acceleration information exceeds the threshold for the acceleration information of the learning information in the controlling step .
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