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 PDF

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Publication number
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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South Korea
Prior art keywords
information
articulated robot
collision
acceleration
robot
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KR1020130166397A
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Korean (ko)
Inventor
김봉석
박창우
김동엽
김태근
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전자부품연구원
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Priority to KR1020130166397A priority Critical patent/KR20150080050A/en
Publication of KR20150080050A publication Critical patent/KR20150080050A/en

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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
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a collision sensing apparatus of an articulated robot, wherein the present invention is to provide a collision sensing apparatus of an articulated robot and a method using the same, by which a collision generated to the robot is sensed, and the articulated robot can be controlled in accordance with whether the robot collides. In accordance with the present invention, the collision sensing apparatus of the articulated robot comprises: an input unit to input movement information for a movement of the articulated robot; acceleration sensor units installed in a plurality of joints of the articulated robot to measure accelerations generated in the plurality of joints of the articulated robot operated by the movement information; and a controller to receive the movement information from the input unit, to determine whether the robot collides with an outdoor article by receiving acceleration information acquired in real time by the acceleration sensor unit, and to control the articulated robot in accordance with whether the robot collides.

Description

TECHNICAL FIELD [0001] The present invention relates to a collision sensing apparatus for a multi-joint robot and a collision sensing method using the same.

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.

Korean Patent Publication No. 2013-0090183 (2013.08.13)

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 collision detection system 100 of a jointed-arm robot according to an embodiment of the present invention will be described in detail with reference to the drawings.

2 is a block diagram showing a configuration of a collision sensing apparatus 100 for a jointed-arm robot according to an embodiment of the present invention. Referring to FIG. 1, a multi-joint robot 100 according to an embodiment of the present invention is schematically illustrated.

Referring to FIGS. 1 and 2, a collision sensing apparatus 100 of a jointed-arm robot according to an embodiment of the present invention includes an input unit 10, an acceleration sensor unit 20, and a control unit 30.

The input unit 10 can input motion information on the motion of the articulated robot 30. That is, the input unit 10 may provide kinematics information or dynamics information about a desired motion so that the articulated robot 30 can perform a desired operation. For example, the input unit 10 can provide the determination unit 22 with information on the movement locus, the movement angle, and the movement distance of the articulated robot 30 for learning the determination unit 22 to be described later.

The acceleration sensor unit 31 is installed in each of the plurality of joints of the articulated robot 30 to measure the acceleration generated by the joints. That is, the acceleration sensor unit 31 is provided to match the number of the joints of the articulated robot 30, and generated in the joints of the articulated robot 31 operated by the motion information inputted from the input unit 10 The acceleration can be measured individually.

As the acceleration sensor unit 10, an electronic acceleration sensor that measures the amount of movement by the electromotive force of a magnet and a coil can be used, and a piezoelectric device that generates a voltage when a pressure is applied is used to measure the acceleration at an applied pressure. An acceleration sensor, or the like may be used, but the present invention is not limited thereto.

The control unit 20 receives the motion information from the input unit 10, receives the acceleration information acquired in real time by the acceleration sensor unit 31, determines whether or not the robot collides with an external object, (30).

The control unit 20 may include a learning information generation unit 21, a determination unit 22, and a driving unit 23.

The learning information generating unit 21 can generate the learning information through the motion information input from the input unit 10 and the acceleration information acquired by repeating the operation according to the motion information.

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 information generation unit 21 generates the learning information through the motion information and the acceleration information obtained by repeating the operation according to the motion information and provides the learning information to the determination unit 22 to be described later so as to allow the determination unit 22 to learn have.

The determination unit 22 is learned by the learning information generated from the learning information generation unit 21 and receives the acceleration information from the acceleration sensor unit 31 in real time to determine whether or not the acceleration information is collided with an external object. That is, the determination unit 22 can determine that the acceleration has occurred when the acceleration information measured in real time from the acceleration sensor unit 31 exceeds the threshold value of the acceleration information of the learning information.

As the determination unit 22, a classifier such as a neural network or a fuzzy may be used.

The driving unit 23 can generate the control signal to determine whether the collision is judged by the judging unit 22 and drive the articulated robot 30. For example, the driving unit 23 can stop the articulated robot 30 when it is determined that the robot 22 is in a collision state. The driving unit 23 controls the articulated robot 30 to move in the direction opposite to the collision area when it is determined that the collision is caused by the determination unit 22, Can be controlled.

The control unit 20 may further include a storage unit 24 for storing various programs and data for operating the collision sensing apparatus 100 of the articulated robot. For example, the storage unit 24 may store an operating system or the like for operating the collision sensing apparatus 100 of the articulated robot.

In particular, the storage unit 24 may store kinematics information and dynamics information for performing collision detection of the articulated robot 30 of the present invention, and acceleration information acquired by repeating motion through kinematics information and dynamics information. In addition, the storage unit 24 may store the acceleration information measured in real time by the acceleration sensor unit 31.

Therefore, the collision sensing apparatus 100 of the articulated robot according to the embodiment of the present invention detects the collision occurring in the articulated robot 30 using the inexpensive acceleration sensor unit 31, The collision sensing apparatus 100 of the robot can be implemented.

Hereinafter, a method of detecting a collision of the articulated robot 30 according to an embodiment of the present invention will be described in detail.

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 collision sensing apparatus 100 of the articulated robot 100 may receive motion information on motion of the articulated robot 30. That is, the collision sensing apparatus 100 of the articulated robot can receive kinematics information or dynamics information about a desired movement from the input unit 10 so that the articulated robot 30 can perform a desired operation have.

Next, in step S20, the collision sensing apparatus 100 of the articulated robot can generate learning information through the acceleration information obtained by repeating the motion information input from the input unit 10 and the motion information.

Next, in step S30, the collision sensing apparatus 100 of the articulated robot can be learned by learning information generated in step S20.

Next, in step S40, the collision sensing apparatus 100 of the articulated robot is generated by a plurality of joints of the articulated robot 30 operated by the motion information input from the input unit 10 by the acceleration sensor unit 31 Respectively.

Next, in step S50, the collision sensing apparatus 100 of the articulated robot is learned by the learning information generated from the learning information generating unit 21, receives the acceleration information in real time from the acceleration sensor unit 31, It is possible to judge whether or not there is a collision. That is, the collision sensing apparatus 100 of the articulated robot can determine that the collision has occurred when the acceleration information measured in real time from the acceleration sensor unit 31 exceeds the threshold value of the acceleration information of the learning information.

If it is determined in step S50 that there is no collision, the collision sensing apparatus 100 of the articulated robot may perform step S40.

If it is determined in step S50 that there is a collision, the collision sensing apparatus 100 of the articulated robot can control the articulated robot 30 in step S60. For example, when it is determined that the collision sensing apparatus 100 of the articulated robot has collided, the articulated robot 30 can be stopped. Also, when it is determined that the collision sensing apparatus 100 of the articulated robot has collided, the articulated robot 30 may be controlled to move in a direction opposite to the collision site.

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 input unit for inputting motion information on motion of the articulated robot;
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: The method according to claim 1,
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: 3. The method of claim 2,
Wherein the determination unit uses a neural network or purging. 3. The method of claim 2,
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. 5. The method of claim 4,
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. A step in which the collision sensing apparatus of the articulated robot receives motion information on motion of the articulated robot;
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. 7. The method of claim 6, wherein before the measuring step,
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. 8. The method of claim 7,
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 .
KR1020130166397A 2013-12-30 2013-12-30 Collision sensing apparatus of articulated robot and method using the same KR20150080050A (en)

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CN105522586A (en) * 2016-02-22 2016-04-27 北京锐洁机器人科技有限公司 Semiconductor robot end executing mechanism
CN108098746A (en) * 2017-11-14 2018-06-01 歌尔科技有限公司 Mechanical arm and mechanical arm bootstrap operating method
WO2019054558A1 (en) * 2017-09-12 2019-03-21 한화테크윈주식회사 Device and method for controlling cooperative robot
KR101970951B1 (en) * 2017-11-03 2019-04-22 성균관대학교산학협력단 Apparatus and method of collision detection of robot manipulator
JP2019166580A (en) * 2018-03-22 2019-10-03 カシオ計算機株式会社 Robot, robot control method and program
KR102105626B1 (en) * 2019-10-30 2020-04-28 주식회사 뉴로메카 Method for setting collision sensitivity automatically for cooperative robot
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KR102139229B1 (en) * 2019-10-30 2020-07-29 주식회사 뉴로메카 Collision Detection Method and System of Robot Manipulator Using Artificial Neural Network
KR102169879B1 (en) * 2019-06-03 2020-10-27 한국기계연구원 collision detection system and method for robot by learning
KR102226122B1 (en) * 2020-04-22 2021-03-11 주식회사 뉴로메카 Method for setting collision sensitivity automatically for cooperative robot
WO2021086091A1 (en) * 2019-10-30 2021-05-06 주식회사 뉴로메카 Method and system for detecting collision of robot manipulator using artificial neural network
WO2021135315A1 (en) * 2019-12-30 2021-07-08 南京埃斯顿自动化股份有限公司 Robot collision detection device and collision detection method
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US11714163B2 (en) 2020-03-18 2023-08-01 Samsung Electronics Co., Ltd. Acoustic collision detection and localization for robotic devices
KR20230114392A (en) 2022-01-25 2023-08-01 남창열 Automation system utilizing articulated robot
KR20240086143A (en) 2022-12-09 2024-06-18 경북대학교 산학협력단 Cable-driven revolute joint device for wearable robots
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Cited By (21)

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CN105522586A (en) * 2016-02-22 2016-04-27 北京锐洁机器人科技有限公司 Semiconductor robot end executing mechanism
WO2019054558A1 (en) * 2017-09-12 2019-03-21 한화테크윈주식회사 Device and method for controlling cooperative robot
US11534918B2 (en) 2017-09-12 2022-12-27 Hanwha Co., Ltd. Device and method for controlling cooperative robot
KR101970951B1 (en) * 2017-11-03 2019-04-22 성균관대학교산학협력단 Apparatus and method of collision detection of robot manipulator
CN108098746A (en) * 2017-11-14 2018-06-01 歌尔科技有限公司 Mechanical arm and mechanical arm bootstrap operating method
WO2019095506A1 (en) * 2017-11-14 2019-05-23 歌尔科技有限公司 Mechanical arm and self-guiding operation method for mechanical arm
CN108098746B (en) * 2017-11-14 2019-08-20 歌尔科技有限公司 Mechanical arm and mechanical arm bootstrap operating method
JP2019166580A (en) * 2018-03-22 2019-10-03 カシオ計算機株式会社 Robot, robot control method and program
KR20200061900A (en) * 2018-11-26 2020-06-03 전자부품연구원 System and method for collision recognition using robot skin
KR102169879B1 (en) * 2019-06-03 2020-10-27 한국기계연구원 collision detection system and method for robot by learning
KR102139229B1 (en) * 2019-10-30 2020-07-29 주식회사 뉴로메카 Collision Detection Method and System of Robot Manipulator Using Artificial Neural Network
WO2021086091A1 (en) * 2019-10-30 2021-05-06 주식회사 뉴로메카 Method and system for detecting collision of robot manipulator using artificial neural network
KR20210052182A (en) * 2019-10-30 2021-05-10 주식회사 뉴로메카 Collision Detection Method and System of Robot Manipulator Using Artificial Neural Network
KR102105626B1 (en) * 2019-10-30 2020-04-28 주식회사 뉴로메카 Method for setting collision sensitivity automatically for cooperative robot
WO2021135315A1 (en) * 2019-12-30 2021-07-08 南京埃斯顿自动化股份有限公司 Robot collision detection device and collision detection method
US11714163B2 (en) 2020-03-18 2023-08-01 Samsung Electronics Co., Ltd. Acoustic collision detection and localization for robotic devices
KR102226122B1 (en) * 2020-04-22 2021-03-11 주식회사 뉴로메카 Method for setting collision sensitivity automatically for cooperative robot
KR20230114392A (en) 2022-01-25 2023-08-01 남창열 Automation system utilizing articulated robot
KR102384897B1 (en) 2022-02-12 2022-04-08 남창열 Automation system utilizing articulated robot
KR20240086143A (en) 2022-12-09 2024-06-18 경북대학교 산학협력단 Cable-driven revolute joint device for wearable robots
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