WO2022052693A1 - Robot collision detection test method - Google Patents
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- WO2022052693A1 WO2022052693A1 PCT/CN2021/110868 CN2021110868W WO2022052693A1 WO 2022052693 A1 WO2022052693 A1 WO 2022052693A1 CN 2021110868 W CN2021110868 W CN 2021110868W WO 2022052693 A1 WO2022052693 A1 WO 2022052693A1
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- the present application belongs to the field of robots, and for example, relates to a robot collision detection test method.
- the testing method in the related art needs to continuously change the spatial position of the testing device to meet the requirements of the testing set.
- the replacement of the spatial position of the test device requires manual operation, and there are usually dozens or even hundreds of test poses of a robot, the test efficiency is very low.
- it is difficult to find an accurate position in the robot base coordinate system when changing the spatial position of the test device it is easy to cause deviation of the collision position.
- the application provides a robot collision detection test method, including:
- test equipment on the end of the auxiliary test robot, connect the test equipment with the acquisition equipment, and set the acquisition equipment to collect the test data output by the test equipment;
- the spatial collision point of the auxiliary test robot is calculated.
- the multiple spatial collision points of the auxiliary test robot constitute the auxiliary test robot in the auxiliary test robot. Collision test set in Cartesian space of ;
- FIG. 1 is a flowchart of a robot collision detection test method provided by an embodiment of the present application.
- FIG. 2 is an arrangement diagram of an auxiliary test robot, a robot under test, a test device, and a collection device in a robot collision detection test method provided by an embodiment of the present application.
- FIG. 3 is a flow chart of a collision between an auxiliary test robot and a robot under test in a quasi-static test case in a robot collision detection test method provided by an embodiment of the present application.
- FIG. 4 is a flow chart of a collision between an auxiliary test robot and a robot under test in a dynamic test situation in a robot collision detection test method provided by an embodiment of the present application.
- a plurality includes “two” and “two or more”; as used herein, “a plurality of groups” includes “two groups” and “two or more groups.”
- the terms “substantially”, “about” and the like are used to modify any quantity or error that may vary slightly, but which does not alter its essence. In general, the range of nuance or error modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other numerical values. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
- FIG. 1 is a flowchart of a robot collision detection test method provided by an embodiment of the present application.
- the robot collision detection test method includes the following steps:
- the tested robot A and the auxiliary test robot B are fixedly installed in appropriate positions.
- the installation distance between the auxiliary test robot B and the robot A under test needs to satisfy: the smart workspace of the auxiliary test robot B covers the collision detection test space of the robot A under test.
- the collision detection test space of the tested robot A has been specified by the robot manufacturer before leaving the factory.
- auxiliary test robots can be selected, or a larger-sized auxiliary test robot can be selected.
- test equipment is fixed at the end of the auxiliary test robot, and the test equipment is connected with the acquisition equipment, and the acquisition equipment is set to collect the test data output by the test equipment.
- an auxiliary test robot with at least 6 degrees of freedom is selected.
- the spatial collision point of the auxiliary test robot B is calculated and obtained.
- the auxiliary test robot B consists of multiple spatial collision points.
- [X Y Z] represents the collision direction
- [P BORG ] represents the collision position
- a space collision point of the auxiliary test robot B in the Cartesian space of the auxiliary test robot B is:
- the conversion matrix is calculated according to the relative positions of the tested robot A and the auxiliary test robot B during the test.
- the inverse kinematics solution function ikine can be used to obtain the inverse solution of the robot kinematics for the collision test set ⁇ B ⁇ , and the joint position set ⁇ q B ⁇ of the auxiliary test robot can be obtained, which is convenient for the actual control process. Control the joint motion of the auxiliary test robot.
- the collision process is also a process in which the tested robot A hits the test equipment at the end of the auxiliary test robot B.
- the acquisition device records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B.
- the tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point A P i+1 of the tested robot A, and the end of the auxiliary test robot B runs to The next spatial collision point of the auxiliary test robot B is B P i+1 , and the next test is performed.
- a single collision end signal is given by the acquisition device or the operator.
- step S43 Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. If all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S42, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.
- the auxiliary test robot B does not enter the impedance mode, and the end of the auxiliary test robot B remains stationary after moving to the collision point in space and before colliding with the robot A under test.
- the test equipment is fixed at the end of the auxiliary test robot.
- the space position of the test equipment can be changed by rotating the joints of the auxiliary test robot without reinstalling or fixing the test equipment. equipment, thereby greatly improving the test efficiency.
- the auxiliary test robot can be controlled to accurately reach the space collision point of the tested robot.
- the robot collision detection test method of the present application further includes the following steps:
- compliance is achieved by adjusting the dynamic characteristics between the position where the assistant test robot collides and the impact force.
- the collection device records The peak value and steady state value of the collision force when the tested robot A collides with the auxiliary test robot B.
- the tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point A P i+1 , and the end of the auxiliary test robot B runs to the next space
- the collision point is B P i+1 , and the next test is performed.
- a single collision end signal is given by the acquisition device or the operator.
- step S54 Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. In the case where all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S53, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.
- the auxiliary test robot B enters the impedance mode, and the end of the auxiliary robot B simulates the process of being knocked off during the process of moving to the collision point in space and before colliding with the robot A under test.
- the robot collision detection test method provided in this application, by setting the auxiliary test robot to the impedance mode and adjusting the appropriate impedance parameters, the biomechanical characteristics of the human body can be simulated, and the real collision process between the robot under test and the person can be better simulated .
- the above-described embodiments of the present application may be implemented in various hardware, software coding, or a combination of both.
- the embodiments of the present application may also represent program codes for executing the above methods in a data signal processor.
- the application may also relate to various functions performed by computer processors, digital signal processors, microprocessors, or field programmable gate arrays.
- the above-described processors may be configured in accordance with the present application to perform specific tasks by executing machine-readable software code or firmware code that defines the specific methods disclosed herein.
- the software code or firmware code may be developed to represent different programming languages and different formats or forms.
- Software code can also be compiled to represent different target platforms. However, different code styles, types and languages of software code and other types of configuration code to perform tasks in accordance with this application do not depart from the spirit and scope of this application.
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Abstract
The present application provides a robot collision detection test method, comprising: selecting an auxiliary test robot and a robot under test, and determining a mounting distance between the two; fixing a test device at an end of the auxiliary test robot, and connecting the test device to an acquisition device; calculating a spatial collision point of the auxiliary test robot according to relative positions of the robot under test and the auxiliary test robot and a spatial collision point of the robot under test so as to acquire a collision test set; and during a quasi-static test, controlling the end of the auxiliary test robot to move to the spatial collision point of the auxiliary test robot, and controlling the robot under test to collide, at the spatial collision point of the robot under test, with the test device at the end of the auxiliary test robot, wherein the acquisition device records a peak value and a steady-state value of a collision force during a collision between the robot under test and the auxiliary test robot.
Description
本申请要求在2020年9月10日提交中国专利局、申请号为202010945801.0的中国专利申请的优先权,该申请的全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application with application number 202010945801.0 filed with the China Patent Office on September 10, 2020, the entire contents of which are incorporated herein by reference.
本申请属于机器人领域,例如涉及一种机器人碰撞检测测试方法。The present application belongs to the field of robots, and for example, relates to a robot collision detection test method.
随着机器人与人进行交互协作的应用场景的广泛拓展,人们对机器人的功能安全,尤其是对协作机器人在人机协作的安全性方面提出了更高的要求,碰撞检测是限制人机协作力的一个重要安全功能。对于机器人来说,其运行过程中的碰撞可能发生在它的任意部位和位姿。因此,针对机器人协作力性能的测试需要满足以下要求:覆盖机器人的大部分表面;覆盖机器人的运动空间;能够充分模拟机器人与人之间的各类碰撞工况及动态过程。With the extensive expansion of the application scenarios of interaction and collaboration between robots and humans, people have put forward higher requirements for the functional safety of robots, especially the safety of collaborative robots in human-robot cooperation. Collision detection is a limitation of human-robot cooperation. an important safety feature. For the robot, the collision during its operation may occur in any part and pose of it. Therefore, the test of the cooperative force performance of the robot needs to meet the following requirements: cover most of the surface of the robot; cover the movement space of the robot; fully simulate various collision conditions and dynamic processes between the robot and the human.
相关技术中的测试方法需要通过不断更换测试装置的空间位置,来满足测试集的要求。然而,由于测试装置的空间位置的更换需要人工操作,且一个机器人的测试位姿通常有几十甚至上百个,因此测试效率非常低。而且由于更换测试装置的空间位置时难以在机器人基坐标系下找到精确位置,因此容易导致碰撞位置偏差。另外,相关技术中的测试方法中难以模仿真实机器人与人碰撞过程中人员由于冲击造成位置偏离的动态过程。The testing method in the related art needs to continuously change the spatial position of the testing device to meet the requirements of the testing set. However, since the replacement of the spatial position of the test device requires manual operation, and there are usually dozens or even hundreds of test poses of a robot, the test efficiency is very low. Moreover, since it is difficult to find an accurate position in the robot base coordinate system when changing the spatial position of the test device, it is easy to cause deviation of the collision position. In addition, it is difficult for the testing methods in the related art to imitate the dynamic process of the position deviation of the person due to the impact during the collision between the real robot and the person.
发明内容SUMMARY OF THE INVENTION
本申请提供了一种机器人碰撞检测测试方法,包括:The application provides a robot collision detection test method, including:
选取辅助测试机器人和被测机器人,并确定辅助测试机器人和被测机器人之间的安装距离;Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test;
将测试设备固定在辅助测试机器人的末端,并将测试设备与采集设备连接, 采集设备设置为采集测试设备输出的测试数据;Fix the test equipment on the end of the auxiliary test robot, connect the test equipment with the acquisition equipment, and set the acquisition equipment to collect the test data output by the test equipment;
根据被测机器人与辅助测试机器人的相对位置以及被测机器人的空间碰撞点位,计算得到辅助测试机器人的空间碰撞点位,辅助测试机器人的多个空间碰撞点位构成辅助测试机器人在辅助测试机器人的笛卡尔空间内的碰撞测试集;According to the relative position of the tested robot and the auxiliary test robot and the spatial collision point of the tested robot, the spatial collision point of the auxiliary test robot is calculated. The multiple spatial collision points of the auxiliary test robot constitute the auxiliary test robot in the auxiliary test robot. Collision test set in Cartesian space of ;
在准静态测试情况下,控制辅助测试机器人的末端移动至辅助测试机器人的空间碰撞点位,并控制被测机器人在被测机器人的空间碰撞点位撞击辅助测试机器人末端的测试设备,采集设备记录被测机器人与辅助测试机器人碰撞时碰撞力的峰值和稳态值。In the case of quasi-static test, control the end of the auxiliary test robot to move to the space collision point of the auxiliary test robot, and control the tested robot to hit the test equipment at the end of the auxiliary test robot at the space collision point of the tested robot, and collect the records of the equipment. The peak and steady state value of the collision force when the robot under test collides with the auxiliary test robot.
图1为本申请实施例提供的一种机器人碰撞检测测试方法的流程图。FIG. 1 is a flowchart of a robot collision detection test method provided by an embodiment of the present application.
图2为本申请实施例提供的一种机器人碰撞检测测试方法中辅助测试机器人、被测机器人、测试设备和采集设备的布置图。FIG. 2 is an arrangement diagram of an auxiliary test robot, a robot under test, a test device, and a collection device in a robot collision detection test method provided by an embodiment of the present application.
图3为本申请实施例提供的一种机器人碰撞检测测试方法中,在准静态测试情况下,辅助测试机器人和被测机器人的碰撞流程图。FIG. 3 is a flow chart of a collision between an auxiliary test robot and a robot under test in a quasi-static test case in a robot collision detection test method provided by an embodiment of the present application.
图4为本申请实施例提供的一种机器人碰撞检测测试方法中,在动态测试情况下,辅助测试机器人和被测机器人的碰撞流程图。FIG. 4 is a flow chart of a collision between an auxiliary test robot and a robot under test in a dynamic test situation in a robot collision detection test method provided by an embodiment of the present application.
本申请的示意性实施例及其说明用于解释本申请,但并不作为对本申请的限定。另外,在附图及实施方式中所使用相同或类似标号的元件/构件是用来代表相同或类似部分。The illustrative embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements/members with the same or similar reference numerals used in the drawings and the embodiments are intended to represent the same or similar parts.
关于本文中所使用的“第一”、“第二”、…等,并非特别指称次序或顺位的意思,也非用以限定本申请,其仅为了区别以相同技术用语描述的元件或操作。The "first", "second", . .
关于本文中所使用的“包含”、“包括”、“具有”、“含有”等等,均为开放性的 用语,即意指包含但不限于。As used herein, "comprising," "including," "having," "containing," and the like, are open-ended terms, meaning including but not limited to.
关于本文中所使用的“及/或”,包括所述事物的任一或全部组合。As used herein, "and/or" includes any and all combinations of the stated things.
关于本文中的“多个”包括“两个”及“两个以上”;关于本文中的“多组”包括“两组”及“两组以上”。As used herein, "a plurality" includes "two" and "two or more"; as used herein, "a plurality of groups" includes "two groups" and "two or more groups."
关于本文中所使用的用语“大致”、“约”等,用以修饰任何可以细微变化的数量或误差,但这些微变化或误差并不会改变其本质。一般而言,此类用语所修饰的细微变化或误差的范围在部分实施例中可为20%,在部分实施例中可为10%,在部分实施例中可为5%或是其他数值。本领域技术人员应当了解,前述提及的数值可依实际需求而调整,并不以此为限。As used herein, the terms "substantially", "about" and the like are used to modify any quantity or error that may vary slightly, but which does not alter its essence. In general, the range of nuance or error modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other numerical values. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
某些用以描述本申请的用词将于下或在此说明书的别处讨论,以提供本领域技术人员在有关本申请的描述上额外的引导。Certain terms used to describe the application are discussed below or elsewhere in this specification to provide those skilled in the art with additional guidance in the description of the application.
图1为本申请实施例提供的一种机器人碰撞检测测试方法的流程图。FIG. 1 is a flowchart of a robot collision detection test method provided by an embodiment of the present application.
如图1所示,本申请提供的机器人碰撞检测测试方法包括以下步骤:As shown in Figure 1, the robot collision detection test method provided by the present application includes the following steps:
S1、选取辅助测试机器人和被测机器人,并确定辅助测试机器人和被测机器人之间的安装距离。S1. Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test.
如图2所示,将被测机器人A与辅助测试机器人B固定安装在合适的位置。As shown in Figure 2, the tested robot A and the auxiliary test robot B are fixedly installed in appropriate positions.
为测试被测机器人A的碰撞安全性能,辅助测试机器人B与被测机器人A之间的安装距离需要满足:辅助测试机器人B的灵巧工作空间覆盖被测机器人A的碰撞检测测试空间。其中,被测机器人A的碰撞检测测试空间在出厂前已由机器人厂家规定好。In order to test the collision safety performance of the robot A under test, the installation distance between the auxiliary test robot B and the robot A under test needs to satisfy: the smart workspace of the auxiliary test robot B covers the collision detection test space of the robot A under test. Among them, the collision detection test space of the tested robot A has been specified by the robot manufacturer before leaving the factory.
为测试被测机器人A的碰撞安全性能,可以选择多台辅助测试机器人,或者选择较大尺寸的辅助测试机器人。In order to test the crash safety performance of the robot A under test, multiple auxiliary test robots can be selected, or a larger-sized auxiliary test robot can be selected.
S2、如图2所示,将测试设备固定在辅助测试机器人的末端,并将测试设 备与采集设备连接,采集设备设置为采集测试设备输出的测试数据。S2. As shown in Figure 2, the test equipment is fixed at the end of the auxiliary test robot, and the test equipment is connected with the acquisition equipment, and the acquisition equipment is set to collect the test data output by the test equipment.
考虑到碰撞测试中碰撞方向的多样性和测试设备测试方向的单一性,选取至少具有6个自由度的辅助测试机器人。Considering the diversity of collision directions in the crash test and the singleness of the test directions of the test equipment, an auxiliary test robot with at least 6 degrees of freedom is selected.
S3、根据被测机器人A与辅助测试机器人B的相对位置以及被测机器人A的空间碰撞点位,计算得到辅助测试机器人B的空间碰撞点位,辅助测试机器人B的多个空间碰撞点位构成辅助测试机器人B在辅助测试机器人B的笛卡尔空间内的碰撞测试集。S3. According to the relative positions of the tested robot A and the auxiliary test robot B and the spatial collision point of the tested robot A, the spatial collision point of the auxiliary test robot B is calculated and obtained. The auxiliary test robot B consists of multiple spatial collision points. The collision test set of auxiliary test robot B in the Cartesian space of auxiliary test robot B.
假设被测机器人A在被测机器人A的笛卡尔空间中的一个空间碰撞点位为:Assume that a space collision point of the tested robot A in the Cartesian space of the tested robot A is:
AP
i=[X Y Z P
BORG],
A P i =[X Y Z P BORG ],
其中,[X Y Z]表示碰撞方向,[P
BORG]表示碰撞位置。
Among them, [X Y Z] represents the collision direction, and [P BORG ] represents the collision position.
被测机器人A的n个空间碰撞点位构成被测机器人A在被测机器人A的笛卡尔空间内的碰撞测试集:
AP
i(i=1,2,…,n)∈{A}。
The n space collision points of the tested robot A constitute the collision test set of the tested robot A in the Cartesian space of the tested robot A: A P i(i=1,2,...,n) ∈{A}.
辅助测试机器人B与被测机器人A在一个空间碰撞点位发生碰撞时方向相反,位置相同,则辅助测试机器人B在辅助测试机器人B的笛卡尔空间内的一个空间碰撞点位为:When the auxiliary test robot B collides with the tested robot A at a collision point in space, the directions are opposite and the positions are the same, then a space collision point of the auxiliary test robot B in the Cartesian space of the auxiliary test robot B is:
其中,
表示被测机器人A的笛卡尔空间到辅助测试机器人B的笛卡尔空间的转换矩阵,转换矩阵根据被测机器人A和辅助测试机器人B在测试时的相对位置计算得到。
in, Represents the transformation matrix from the Cartesian space of the tested robot A to the Cartesian space of the auxiliary test robot B. The conversion matrix is calculated according to the relative positions of the tested robot A and the auxiliary test robot B during the test.
辅助测试机器人B的n个空间碰撞点位构成辅助测试机器人B在辅助测试机器人B的笛卡尔空间内的碰撞测试集:
BP
i(i=1,2,…,n)∈{B}。
The n space collision points of the auxiliary test robot B constitute the collision test set of the auxiliary test robot B in the Cartesian space of the auxiliary test robot B: B P i(i=1,2,...,n) ∈{B}.
需要说明的是,可以采用逆运动学求解函数ikine对碰撞测试集{B}求取机器 人运动学的逆解,得到辅助测试机器人的关节位置集{q
B},从而便于在实际的控制过程中控制辅助测试机器人的关节运动。
It should be noted that the inverse kinematics solution function ikine can be used to obtain the inverse solution of the robot kinematics for the collision test set {B}, and the joint position set {q B } of the auxiliary test robot can be obtained, which is convenient for the actual control process. Control the joint motion of the auxiliary test robot.
S4、如图3所示,在准静态测试情况下,控制辅助测试机器人B的末端移动至辅助测试机器人B的空间碰撞点位,并控制被测机器人A在被测机器人A的空间碰撞点位撞击辅助测试机器人B末端的测试设备,采集设备记录被测机器人A与辅助测试机器人B碰撞时碰撞力的峰值和稳态值。S4的过程为:S4. As shown in Figure 3, in the case of quasi-static test, control the end of the auxiliary test robot B to move to the space collision point of the auxiliary test robot B, and control the tested robot A to the space collision point of the tested robot A Hit the test equipment at the end of the auxiliary test robot B, and the collection equipment records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B. The process of S4 is:
S41、控制辅助测试机器人B的末端移动至空间碰撞点位
BP
i,控制被测机器人A的末端从碰撞方向[X Y Z]撞击空间碰撞点位
AP
i,采集设备记录被测机器人A与辅助测试机器人B碰撞时碰撞力的峰值和稳态值。
S41. Control the end of the auxiliary test robot B to move to the space collision point B P i , control the end of the tested robot A to hit the space collision point A P i from the collision direction [X Y Z], and the collection device records the test robot A and the auxiliary Test the peak and steady-state values of the collision force when Robot B collides.
由于空间碰撞点位
AP
i和
BP
i在各自的笛卡尔空间中方向相反、位置相同,因此该碰撞过程也是被测机器人A撞击辅助测试机器人B末端的测试设备的过程。在该碰撞过程中,采集设备记录被测机器人A与辅助测试机器人B碰撞时碰撞力的峰值和稳态值。
Since the spatial collision points A P i and B P i have opposite directions and the same positions in their respective Cartesian spaces, the collision process is also a process in which the tested robot A hits the test equipment at the end of the auxiliary test robot B. During the collision process, the acquisition device records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B.
S42、被测机器人A和辅助测试机器人B获取单次碰撞结束信号,被测机器人A的末端运行至被测机器人A下一个空间碰撞点位
AP
i+1,辅助测试机器人B的末端运行至辅助测试机器人B的下一个空间碰撞点位
BP
i+1,进行下一次测试。
S42. The tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point A P i+1 of the tested robot A, and the end of the auxiliary test robot B runs to The next spatial collision point of the auxiliary test robot B is B P i+1 , and the next test is performed.
每次碰撞发生后,由采集设备或操作人员给出单次碰撞结束信号。After each collision occurs, a single collision end signal is given by the acquisition device or the operator.
S43、判断辅助测试机器人B的碰撞测试集中的空间碰撞点位是否全部测试完毕,在辅助测试机器人B的碰撞测试集中的空间碰撞点位全部测试完毕的情况下,保存数据,结束测试;在辅助测试机器人B的碰撞测试集中的空间碰撞点位没有全部测试完毕的情况下,返回步骤S42,继续控制被测机器人A在下一个空间碰撞点位撞击辅助测试机器人B末端的测试设备,直至测试完所有的 空间碰撞点位。S43. Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. If all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S42, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.
需要说明的是,在准静态测试情况下,辅助测试机器人B不进入阻抗模式,辅助测试机器人B的末端在移动至空间碰撞点位后且与被测机器人A碰撞之前的过程中保持不动。It should be noted that in the case of quasi-static testing, the auxiliary test robot B does not enter the impedance mode, and the end of the auxiliary test robot B remains stationary after moving to the collision point in space and before colliding with the robot A under test.
采用本申请提供的机器人碰撞检测测试方法,将测试设备固定在辅助测试机器人的末端,测试过程中,通过辅助测试机器人转动其关节就能够改变测试设备的空间位置,而不需要重新安装或固定测试设备,从而大大提高测试效率。另外,由于已经知道辅助测试机器人与被测试机器人的相对位置,且计算得到了辅助测试机器人在空间内的碰撞测试集,因此能够控制辅助测试机器人精确地到达被测试机器人的空间碰撞点位。Using the robot collision detection test method provided in the present application, the test equipment is fixed at the end of the auxiliary test robot. During the test, the space position of the test equipment can be changed by rotating the joints of the auxiliary test robot without reinstalling or fixing the test equipment. equipment, thereby greatly improving the test efficiency. In addition, since the relative positions of the auxiliary test robot and the tested robot are known, and the collision test set of the auxiliary test robot in space is obtained by calculation, the auxiliary test robot can be controlled to accurately reach the space collision point of the tested robot.
为模拟真实机器人与人碰撞过程中人员由于冲击造成位置偏离的动态过程,本申请机器人碰撞检测测试方法还包括以下步骤:In order to simulate the dynamic process of the positional deviation of the personnel due to the impact during the collision between the real robot and the human, the robot collision detection test method of the present application further includes the following steps:
S5、如图4所示,在动态测试情况下,使辅助测试机器人B进入阻抗模式,控制辅助测试机器人B的末端移动至空间碰撞点位,并控制被测机器人A在空间碰撞点位撞击辅助测试机器人B末端的测试设备,采集设备记录被测机器人A与辅助测试机器人B碰撞时碰撞力的峰值和稳态值。S5的过程为:S5. As shown in Figure 4, in the case of dynamic testing, make the auxiliary test robot B enter the impedance mode, control the end of the auxiliary test robot B to move to the space collision point, and control the tested robot A to hit the auxiliary test robot at the space collision point The test equipment at the end of the test robot B, the collection equipment records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B. The process of S5 is:
S51、调节辅助测试机器人使其进入阻抗模式,并调节合适的阻抗参数,以模拟被测机器人A撞击真实物体或人员的过程。S51 , adjust the auxiliary test robot to enter the impedance mode, and adjust appropriate impedance parameters to simulate the process in which the tested robot A hits a real object or person.
示例性地,通过调节辅助测试机器人碰撞处位置与碰撞力之间的动态特性来实现柔顺性。Illustratively, compliance is achieved by adjusting the dynamic characteristics between the position where the assistant test robot collides and the impact force.
辅助测试机器人受到撞击后偏离撞击前位置后的回弹力F与辅助测试机器人受到撞击后的运动状态之间的关系式为:The relationship between the rebound force F after the auxiliary test robot deviates from the position before the impact and the motion state of the auxiliary test robot after the impact is:
式中,
表示辅助测试机器人受到撞击后的加速度,
表示辅助测试机器人受到撞击后的速度,x表示辅助测试机器人受到撞击后的偏移位移。r、c、k均表示阻抗系数,其中,r用于模拟人体的重量,其取值可以为r=40~70kg;k用于模拟人体皮肤表面的弹性,其取值可以为k=0~100N/m;c用于模拟人体皮肤表面的阻力,其取值可以为c=50~500N/(m/s)。
In the formula, represents the acceleration of the auxiliary test robot after being hit, represents the speed of the auxiliary test robot after being impacted, and x represents the offset displacement of the auxiliary test robot after being impacted. r, c, and k all represent the impedance coefficient, where r is used to simulate the weight of the human body, and its value can be r=40~70kg; k is used to simulate the elasticity of the human skin surface, and its value can be k=0~70kg 100N/m; c is used to simulate the resistance of human skin surface, and its value can be c=50~500N/(m/s).
S52、控制辅助测试机器人B的末端移动至空间碰撞点位
BP
i,控制被测机器人A的末端从碰撞方向[X Y Z]撞击空间碰撞点位
AP
i;在该碰撞过程中,采集设备记录被测机器人A与辅助测试机器人B碰撞时碰撞力的峰值和稳态值。
S52, control the end of the auxiliary test robot B to move to the space collision point B P i , and control the end of the tested robot A to hit the space collision point A P i from the collision direction [X Y Z]; in the collision process, the collection device records The peak value and steady state value of the collision force when the tested robot A collides with the auxiliary test robot B.
S53、被测机器人A和辅助测试机器人B获取单次碰撞结束信号,被测机器人A的末端运行至下一个空间碰撞点位
AP
i+1,辅助测试机器人B的末端均运行至下一个空间碰撞点位
BP
i+1,进行下一次测试。
S53. The tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point A P i+1 , and the end of the auxiliary test robot B runs to the next space The collision point is B P i+1 , and the next test is performed.
每次碰撞发生后,由采集设备或操作人员给出单次碰撞结束信号。After each collision occurs, a single collision end signal is given by the acquisition device or the operator.
S54、判断辅助测试机器人B的碰撞测试集中的空间碰撞点位是否全部测试完毕,在辅助测试机器人B的碰撞测试集中的空间碰撞点位全部测试完毕的情况下,保存数据,结束测试;在辅助测试机器人B的碰撞测试集中的空间碰撞点位没有全部测试完毕的情况下,返回步骤S53,继续控制被测机器人A在下一个空间碰撞点位撞击辅助测试机器人B末端的测试设备,直至测试完所有的空间碰撞点位。S54. Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. In the case where all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S53, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.
需要说明的是,在动态测试情况下,辅助测试机器人B进入阻抗模式,辅助机器人B的末端在移动至空间碰撞点位后且与被测机器人A碰撞之前的过程中模拟被撞飞的过程。It should be noted that, in the case of dynamic testing, the auxiliary test robot B enters the impedance mode, and the end of the auxiliary robot B simulates the process of being knocked off during the process of moving to the collision point in space and before colliding with the robot A under test.
采用本申请提供的机器人碰撞检测测试方法,通过将辅助测试机器人设置为阻抗模式,并调节合适的阻抗参数,就能够模拟人体的生物力学特性,更好 地模拟被测机器人与人的真实碰撞过程。Using the robot collision detection test method provided in this application, by setting the auxiliary test robot to the impedance mode and adjusting the appropriate impedance parameters, the biomechanical characteristics of the human body can be simulated, and the real collision process between the robot under test and the person can be better simulated .
上述的本申请实施例可在各种硬件、软件编码或两者组合中进行实施。例如,本申请的实施例也可表示在数据信号处理器中执行上述方法的程序代码。本申请也可涉及计算机处理器、数字信号处理器、微处理器或现场可编程门阵列执行的多种功能。可根据本申请配置上述处理器执行特定任务,其通过执行定义了本申请揭示的特定方法的机器可读软件代码或固件代码来完成。可将软件代码或固件代码发展表示不同的程序语言与不同的格式或形式。也可表示不同的目标平台编译软件代码。然而,根据本申请执行任务的软件代码与其他类型配置代码的不同代码样式、类型与语言不脱离本申请的精神与范围。The above-described embodiments of the present application may be implemented in various hardware, software coding, or a combination of both. For example, the embodiments of the present application may also represent program codes for executing the above methods in a data signal processor. The application may also relate to various functions performed by computer processors, digital signal processors, microprocessors, or field programmable gate arrays. The above-described processors may be configured in accordance with the present application to perform specific tasks by executing machine-readable software code or firmware code that defines the specific methods disclosed herein. The software code or firmware code may be developed to represent different programming languages and different formats or forms. Software code can also be compiled to represent different target platforms. However, different code styles, types and languages of software code and other types of configuration code to perform tasks in accordance with this application do not depart from the spirit and scope of this application.
Claims (8)
- 一种机器人碰撞检测测试方法,包括:A robot collision detection test method, comprising:选取辅助测试机器人和被测机器人,并确定辅助测试机器人和被测机器人之间的安装距离;Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test;将测试设备固定在辅助测试机器人的末端,并将测试设备与采集设备连接,采集设备设置为采集测试设备输出的测试数据;Fix the test equipment at the end of the auxiliary test robot, connect the test equipment with the acquisition equipment, and set the acquisition equipment to collect the test data output by the test equipment;根据被测机器人与辅助测试机器人的相对位置以及被测机器人的空间碰撞点位,计算得到辅助测试机器人的空间碰撞点位,辅助测试机器人的多个空间碰撞点位构成辅助测试机器人在辅助测试机器人的笛卡尔空间内的碰撞测试集;According to the relative position of the tested robot and the auxiliary test robot and the spatial collision point of the tested robot, the spatial collision point of the auxiliary test robot is calculated. The multiple spatial collision points of the auxiliary test robot constitute the auxiliary test robot in the auxiliary test robot. Collision test set in Cartesian space of ;在准静态测试情况下,控制辅助测试机器人的末端移动至其碰撞点位,并控制被测机器人在被测机器人的空间碰撞点位撞击辅助测试机器人末端的测试设备,采集设备记录被测机器人与辅助测试机器人碰撞时碰撞力的峰值和稳态值。In the case of quasi-static testing, the end of the auxiliary test robot is controlled to move to its collision point, and the robot under test is controlled to hit the test equipment at the end of the auxiliary test robot at the space collision point of the robot under test. The peak and steady state value of the collision force when the auxiliary test robot collides.
- 根据权利要求1所述的方法,其中,所述辅助测试机器人和被测机器人之间的安装距离需要满足:辅助测试机器人的工作空间覆盖被测机器人的碰撞检测测试空间。The method according to claim 1, wherein the installation distance between the auxiliary test robot and the robot under test needs to satisfy: the working space of the auxiliary test robot covers the collision detection test space of the robot under test.
- 根据权利要求1所述的方法,其中,所述辅助测试机器人至少具有6个自由度。The method of claim 1, wherein the auxiliary test robot has at least 6 degrees of freedom.
- 根据权利要求1所述的方法,其中,所述根据被测机器人与辅助测试机器人的相对位置以及被测机器人的空间碰撞点位,计算得到辅助测试机器人的碰撞测试集的过程为:The method according to claim 1, wherein, according to the relative position of the robot under test and the auxiliary test robot and the space collision point of the robot under test, the process of calculating the collision test set of the auxiliary test robot is:假设被测机器人(A)在被测机器人(A)的笛卡尔空间中的一个空间碰撞点位为:Assume that a space collision point of the robot under test (A) in the Cartesian space of the robot under test (A) is:AP i=[X Y Z P BORG], A P i =[X Y Z P BORG ],其中,[X Y Z]表示碰撞方向,[P BORG]表示碰撞位置; Among them, [X Y Z] represents the collision direction, and [P BORG ] represents the collision position;被测机器人(A)的n个空间碰撞点位构成被测机器人(A)在被测机器人 (A)的笛卡尔空间内的碰撞测试集: AP i(i=1,2,…,n)∈{A}; The n space collision points of the robot under test (A) constitute the collision test set of the robot under test (A) in the Cartesian space of the robot under test (A): A P i(i=1,2,…,n ) ∈ {A};辅助测试机器人(B)与被测机器人(A)在一个空间碰撞点位发生碰撞时方向相反,位置相同,则辅助测试机器人(B)在辅助测试机器人(B)的笛卡尔空间内的一个空间碰撞点位为:When the auxiliary test robot (B) collides with the tested robot (A) at a collision point in a space, the direction is opposite and the position is the same, then the auxiliary test robot (B) is in a space within the Cartesian space of the auxiliary test robot (B). The collision point is:其中, 表示被测机器人(A)的笛卡尔空间到辅助测试机器人(B)的笛卡尔空间的转换矩阵,所述转换矩阵根据被测机器人(A)和辅助测试机器人(B)在测试时的相对位置计算得到; in, Represents the transformation matrix from the Cartesian space of the robot under test (A) to the Cartesian space of the auxiliary test robot (B) according to the relative positions of the robot under test (A) and the auxiliary test robot (B) during testing calculated;辅助测试机器人(B)的n个空间碰撞点位构成辅助测试机器人(B)在辅助测试机器人(B)的笛卡尔空间内的碰撞测试集: BP i(i=1,2,…,n)∈{B}。 The n space collision points of the auxiliary test robot (B) constitute the collision test set of the auxiliary test robot (B) in the Cartesian space of the auxiliary test robot (B): B P i(i=1,2,...,n )∈{B}.
- 根据权利要求1所述的方法,其中,所述在准静态测试情况下,控制辅助测试机器人的末端移动至辅助测试机器人的空间碰撞点位,并控制被测机器人在被测机器人的空间碰撞点位撞击辅助测试机器人末端的测试设备,采集设备记录被测机器人与辅助测试机器人碰撞时碰撞力的峰值和稳态值的过程为:The method according to claim 1, wherein, in the case of quasi-static testing, the end of the auxiliary test robot is controlled to move to a space collision point of the auxiliary test robot, and the robot under test is controlled at the space collision point of the robot under test. The process of recording the peak value and steady state value of the collision force when the robot under test collides with the auxiliary test robot is as follows:控制辅助测试机器人(B)的末端移动至空间碰撞点位 BP i,控制被测机器人(A)的末端从碰撞方向[X Y Z]撞击空间碰撞点位 AP i,采集设备记录被测机器人(A)与辅助测试机器人(B)碰撞时碰撞力的峰值和稳态值; Control the end of the auxiliary test robot (B) to move to the space collision point B P i , control the end of the tested robot (A) to hit the space collision point A P i from the collision direction [X Y Z], and the acquisition device records the measured robot ( A) The peak value and steady state value of the collision force when colliding with the auxiliary test robot (B);被测机器人(A)和辅助测试机器人(B)获取单次碰撞结束信号,被测机器人(A)的末端运行至被测机器人(A)的下一个空间碰撞点位 AP i+1,辅助测试机器人(B)的末端运行至辅助测试机器人(B)的下一个空间碰撞点位 BP i+1,进行下一次测试; The tested robot (A) and the auxiliary test robot (B) obtain a single collision end signal, and the end of the tested robot (A) runs to the next spatial collision point A P i+1 of the tested robot (A). The end of the test robot (B) runs to the next space collision point B P i+1 of the auxiliary test robot (B), and the next test is performed;判断辅助测试机器人(B)的碰撞测试集中的空间碰撞点位是否全部测试完毕,在辅助测试机器人(B)的碰撞测试集中的空间碰撞点位全部测试完毕的情况下,保存数据,结束测试;在辅助测试机器人(B)的碰撞测试集中的空间碰 撞点位没有全部测试完毕的情况下,继续控制被测机器人(A)在下一个空间碰撞点位撞击辅助测试机器人(B)末端的测试设备,直至测试完所有的空间碰撞点位。Determine whether all the space collision points in the collision test set of the auxiliary test robot (B) have been tested, and save the data and end the test when all the space collision points in the collision test set of the auxiliary test robot (B) have been tested; Continue to control the robot under test (A) to hit the test equipment at the end of the auxiliary test robot (B) at the next collision point in the space when all the spatial collision points in the collision test set of the auxiliary test robot (B) have not been tested. Until all space collision points are tested.
- 根据权利要求1~5任一项所述的方法,还包括:The method according to any one of claims 1 to 5, further comprising:在动态测试情况下,使辅助测试机器人进入阻抗模式,控制辅助测试机器人的末端移动至空间碰撞点位,并控制被测机器人在空间碰撞点位撞击辅助测试机器人末端的测试设备,采集设备记录被测机器人与辅助测试机器人碰撞时碰撞力的峰值和稳态值。In the case of dynamic testing, make the auxiliary test robot enter impedance mode, control the end of the auxiliary test robot to move to the space collision point, and control the tested robot to hit the test equipment at the end of the auxiliary test robot at the space collision point. The peak value and steady state value of the collision force when the test robot collides with the auxiliary test robot.
- 根据权利要求6所述的方法,其中,所述在动态测试情况下,使辅助测试机器人进入阻抗模式,控制辅助测试机器人的末端移动至空间碰撞点位,并控制被测机器人在空间碰撞点位撞击辅助测试机器人末端的测试设备,采集设备记录被测机器人与辅助测试机器人碰撞时碰撞力的峰值和稳态值的过程为:The method according to claim 6, wherein, in the case of dynamic testing, the auxiliary testing robot is made to enter the impedance mode, the end of the auxiliary testing robot is controlled to move to the collision point in space, and the robot under test is controlled at the collision point in space The process of impacting the test equipment at the end of the auxiliary test robot, and the acquisition equipment recording the peak value and steady-state value of the collision force when the robot under test collides with the auxiliary test robot is as follows:调节辅助测试机器人使其进入阻抗模式,并调节阻抗参数,以模拟被测机器人(A)撞击真实物体或人员的过程;Adjust the auxiliary test robot to enter the impedance mode, and adjust the impedance parameters to simulate the process of the robot under test (A) hitting a real object or person;控制辅助测试机器人(B)的末端移动至空间碰撞点位 BP i,控制被测机器人(A)的末端从碰撞方向[X Y Z]撞击空间碰撞点位 AP i;采集设备记录被测机器人(A)与辅助测试机器人(B)碰撞时碰撞力的峰值和稳态值; Control the end of the auxiliary test robot (B) to move to the space collision point B P i , and control the end of the tested robot (A) to hit the space collision point A P i from the collision direction [X Y Z]; the acquisition device records the tested robot ( A) The peak value and steady state value of the collision force when colliding with the auxiliary test robot (B);被测机器人(A)和辅助测试机器人(B)获取单次碰撞结束信号,被测机器人(A)的末端运行至下一个空间碰撞点位 AP i+1,辅助测试机器人(B)的末端运行至下一个空间碰撞点位 BP i+1,进行下一次测试; The tested robot (A) and the auxiliary test robot (B) obtain a single collision end signal, the end of the tested robot (A) runs to the next spatial collision point A P i+1 , and the end of the auxiliary test robot (B) Run to the next space collision point B P i+1 for the next test;判断辅助测试机器人(B)的碰撞测试集中的空间碰撞点位是否全部测试完毕,在辅助测试机器人(B)的碰撞测试集中的空间碰撞点位全部测试完毕的情况下,保存数据,结束测试;在辅助测试机器人(B)的碰撞测试集中的空间碰撞点位没有全部测试完毕的情况下,继续控制被测机器人(A)在下一个碰撞点位撞击辅助测试机器人(B)末端的测试设备,直至测试完所有的空间碰撞点位。Determine whether all the space collision points in the collision test set of the auxiliary test robot (B) have been tested, and save the data and end the test when all the space collision points in the collision test set of the auxiliary test robot (B) have been tested; In the case where the spatial collision points in the collision test set of the auxiliary test robot (B) are not all tested, continue to control the robot under test (A) to hit the test equipment at the end of the auxiliary test robot (B) at the next collision point until Test all space collision points.
- 根据权利要求7所述的方法,其中,所述调节辅助测试机器人使其进入阻抗模式,并调节阻抗参数,以模拟被测机器人(A)撞击真实物体或人员的过程中,辅助测试机器人受到撞击后偏离撞击前位置后的回弹力F与辅助测试机器人受到撞击后的运动状态之间的关系式为:The method according to claim 7, wherein the auxiliary test robot is adjusted to enter the impedance mode, and the impedance parameters are adjusted to simulate the impact of the test robot (A) against a real object or person, and the auxiliary test robot is impacted The relationship between the rebound force F after deviating from the position before the impact and the motion state of the auxiliary test robot after the impact is:式中, 表示辅助测试机器人受到撞击后的加速度, 表示辅助测试机器人受到撞击后的速度,x表示辅助测试机器人受到撞击后的偏移位移; In the formula, represents the acceleration of the auxiliary test robot after being hit, represents the speed of the auxiliary test robot after being impacted, and x represents the offset displacement of the auxiliary test robot after being impacted;r、c、k均表示阻抗系数,其中,r用于模拟人体的重量,k用于模拟人体皮肤表面的弹性,c用于模拟人体皮肤表面的阻力。r, c, and k all represent impedance coefficients, where r is used to simulate the weight of the human body, k is used to simulate the elasticity of the human skin surface, and c is used to simulate the resistance of the human skin surface.
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