CN109079800A - Robot collision detection method and device, storage medium, processor and robot - Google Patents
Robot collision detection method and device, storage medium, processor and robot Download PDFInfo
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Classifications
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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
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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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- 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
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Abstract
The invention discloses a robot collision detection method and device, a storage medium, a processor and a robot. Wherein, the method comprises the following steps: acquiring a motion track and an actual moment value of each joint in the running process of the robot; determining a theoretical moment value of each joint of the robot according to the motion trail; and determining whether the robot collides or not by comparing the theoretical moment value with the actual moment value. The invention solves the technical problem that whether the robot collides or not cannot be detected.
Description
Technical field
The present invention relates to robot fields, are situated between in particular to a kind of robot collision checking method, device, storage
Matter, processor and robot.
Background technique
Traditional industrial robot need to only be run according to the movement write in advance, and if then in the movement model of robot
Enclose it is interior there is barrier, then robot will also be run according to predetermined action, can not prevent robot motion.Therefore, in order to
The safe operation for guaranteeing machine, often requires that outfit protective fence, is isolated when for guaranteeing operation with people.
As technology develops, robot starts to undertake becoming increasingly complex for task.These tasks often require that staff
Immediately intervention, so that how to realize that safe human-computer interaction becomes most important problem.
But traditional industrial robot can not be interacted with staff, to hold in the operational process of robot
It easily collides with staff, and after collision occurs, robot can still be run according to predetermined action, can be to staff
It causes compared with major injury.
It is above-mentioned can not detect robot and whether collide aiming at the problem that, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of robot collision checking method, device, storage medium, processor and machines
People, at least to solve that the technical issues of whether robot collides can not be detected.
According to an aspect of an embodiment of the present invention, a kind of robot collision checking method is provided, comprising: obtain machine
The actual torque value of motion profile and each joint in people's operational process；According to the motion profile, the robot is determined
Each joint ideal torque value；By comparing the ideal torque value and the actual torque value, the robot is determined
Whether collide.
Further, by comparing the ideal torque value and the actual torque value, determine whether the robot is sent out
Raw collision, comprising: calculate the difference of the ideal torque value and the actual torque value；It is higher than predetermined threshold in the difference
In the case of, determine that the robot collides.
Further, by comparing the ideal torque value and the actual torque value, whether the robot is determined
After colliding, which comprises in the case where detecting that the robot collides, control the robot and stop
Only run.
Further, before obtaining the motion profile in robot operational process and the actual torque value in each joint,
The method also includes: the running parameter of the robot in the process of running is set, wherein the running parameter includes: machine
Tool parameter and kinematic parameter, wherein the mechanical parameter includes at least quality and mass center, for indicating the physics of the robot
Attribute, the kinematic parameter are used to indicate the motion conditions of the robot；The robot is constructed according to the mechanical parameter
Mechanical model；It is simulated according to the kinematic parameter so that the mechanical model, which simulates the robot, carries out skimulated motion
To the motion profile of the robot.
Further, according to the kinematic parameter, so that the mechanical model, which simulates the robot, carries out skimulated motion,
Simulation obtains the motion profile of the robot, comprising: establishes motion model according to the kinematic parameter；Based on the movement mould
Type configures servo-drive parameter corresponding with the mechanical model and the parameter of electric machine, obtains configuration result；It is tied based on the configuration
Fruit carries out motion trail analysis, and simulation obtains the motion profile of the robot.
Further, according to the motion profile, after obtaining the ideal torque value in each joint of the robot,
The method also includes: the minimum output torque of the robot is determined according to the motion profile.
According to another aspect of an embodiment of the present invention, a kind of robot collision detecting device is additionally provided, comprising: obtain single
Member, for obtaining the motion profile in robot operational process and the actual torque value in each joint；First determination unit, is used for
According to the motion profile, the ideal torque value in each joint of the robot is determined；Second determination unit, for passing through ratio
To the ideal torque value and the actual torque value, determine whether the robot collides.
According to another aspect of an embodiment of the present invention, a kind of robot is additionally provided, comprising: equipment is obtained, for obtaining
The actual torque value of motion profile and each joint in robot operational process；Controller is used for according to the motion profile,
Determine the ideal torque value in each joint of the robot；Comparator, for by comparing the ideal torque value and described
Actual torque value, determines whether the robot collides.
Other side according to an embodiment of the present invention, additionally provides a kind of storage medium, and the storage medium includes depositing
The program of storage, wherein equipment where controlling the storage medium in described program operation executes robot described above and touches
Hit detection method.
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and the processor is for running journey
Sequence, wherein described program executes robot collision checking method described above when running.
In embodiments of the present invention, by obtaining the reality of robot motion profile during the motion and each joint
Moment values, and determine according to motion profile the ideal torque value of each of robot key, then compare ideal torque value and reality
Border moment values determine ideal torque value and actual torque value with the presence or absence of difference, if ideal torque value and actual torque value exist
Difference, it is determined that robot collides, and has achieved the purpose that carry out collision detection to robot, to realize detection machine
The technical effect whether people collides, and then solve the technical issues of whether robot collides can not be detected.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of robot collision checking method according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the running parameter of mechanical model according to an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of 3D operation anticollision flow chart according to an embodiment of the present invention
Fig. 4 is a kind of schematic diagram of robot collision detecting device according to an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of robot according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to embodiments of the present invention, a kind of robot collision checking method embodiment is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 1 is a kind of flow chart of robot collision checking method according to an embodiment of the present invention, as shown in Figure 1, the party
Method includes the following steps:
Step S102 obtains the motion profile in robot operational process and the actual torque value in each joint；
Step S104 determines the ideal torque value in each joint of robot according to motion profile；
Step S106 determines whether robot collides by comparing ideal torque value and actual torque value.
In embodiments of the present invention, by obtaining the reality of robot motion profile during the motion and each joint
Moment values, and determine according to motion profile the ideal torque value of each of robot key, then compare ideal torque value and reality
Border moment values determine ideal torque value and actual torque value with the presence or absence of difference, if ideal torque value and actual torque value exist
Difference, it is determined that robot collides, and has achieved the purpose that carry out collision detection to robot, to realize detection machine
The technical effect whether people collides, and then solve the technical issues of whether robot collides can not be detected.
It should be noted that in this application, robot can be industrial robot, such as the multi-joint towards industrial circle
Manipulator.
Optionally, motion profile can indicate the motion path of robot, according to the motion profile of robot to robot
It is simulated, it can be deduced that the ideal torque value in each joint of the robot.
It should be noted that if robot does not collide, then ideal torque value will be identical as actual torque value；If machine
People collides, then the torque of robot will change because of collision, and the ideal torque value of robot will be with reality
Border moment values have differences, so as to judge whether robot occurs according to the ideal torque value and actual torque value of robot
Collision.
Determine whether robot is sent out by comparing ideal torque value and actual torque value as a kind of optional embodiment
Raw collision, comprising: calculate the difference of theoretical moment values and actual torque value；In the case where difference is higher than predetermined threshold, determine
Robot collides.
Using the above embodiment of the present invention, in order to judge the difference between the ideal torque value of robot and actual torque value
It is different, then the difference can be compared with predetermined threshold with the difference between computational theory moment values and actual torque value, if
Difference between ideal torque value and actual torque value is higher than predetermined threshold, it is determined that robot collides, thus realization pair
The collision detection of robot.
Whether robot is determined by comparing ideal torque value and actual torque value as a kind of optional embodiment
After colliding, method includes: in the case where detecting that robot collides, and control robot is out of service.
The above embodiment of the present invention is used, robot collides if detecting, can control robot stopping at once
Operation, to make robot that can stop at once after slight impact occurs, can reduce collision damage as far as possible, can also avoid
Robot collide after as continuing to run for robot and caused by further injure.
Optionally, for the ideal torque value of calculating robot, it can establish the mechanical model of robot to simulate machine
People's movement, obtains the motion profile of mechanical model simulation, and the ideal torque value of robot is further determined according to mechanical model.
As a kind of optional embodiment, the motion profile in robot operational process and the reality in each joint are being obtained
Before moment values, method further include: the running parameter of setting robot in the process of running, wherein running parameter includes: machinery
Parameter and kinematic parameter, wherein mechanical parameter includes at least quality and mass center, for indicating the physical attribute of robot, moves
Parameter is used to indicate the motion conditions of robot；The mechanical model of robot is constructed according to mechanical parameter；According to kinematic parameter, make
It obtains mechanical model dummy robot and carries out skimulated motion, simulation obtains the motion profile of robot.
Using the above embodiment of the present invention, running parameter of the robot in movement work can be set, in running parameter
In, the physical attribute of robot is indicated by mechanical parameters such as quality and mass centers, and the fortune of robot is indicated by kinematic parameter
Emotionally condition can construct the mechanical model of robot, according to the kinematic parameter of robot in turn according to the mechanical parameter of robot
Mechanical model dummy robot can be enable to carry out skimulated motion, so that the simulation according to mechanical model is obtained with result
The motion profile of robot realizes the determination to the motion profile of robot.
As a kind of optional embodiment, according to kinematic parameter, so that mechanical model dummy robot carries out skimulated motion,
Simulation obtains the motion profile of robot, comprising: establishes motion model according to kinematic parameter；Based on motion model configuration and machinery
The corresponding servo-drive parameter of model and the parameter of electric machine, obtain configuration result；Motion trail analysis, mould are carried out based on configuration result
It is quasi- to obtain the motion profile of robot.
It, can be according to the kinematic parameter of robot during determining motion profile using the above embodiment of the present invention
Determine the motion model of robot, and then the motion model based on robot can configure servo-drive corresponding with mechanical model
Parameter and the parameter of electric machine obtain configuration result, and then are analyzed according to configuration result motion profile, can make mechanical model
The motion profile of dummy robot.
The ideal torque value in each joint of robot is obtained according to motion profile as a kind of optional embodiment
Later, method further include: the minimum output torque of robot is determined according to motion profile.
Using the above embodiment of the present invention, according to dummy robot's movable machinery model is used for, can simulate can make
The minimum output torque that robot is moved according to motion profile, and then according to the corresponding state modulator machine of least input force square
Device people movement, can reduce the moment values that robot generates during the motion, thus in the case where robot collides,
Due to the smaller harm so as to reduce collision generation of the torque of robot.
The present invention also provides a kind of preferred embodiment, the preferred embodiment provides a kind of robot anticollision detection function
Energy.
To guarantee safety, controller needs to whether there is between real-time detection robot and staff or workpieces processing
Collision, and guarantee that collision is unlikely to injure staff by corresponding control strategy.
Technical solution provided by the invention, the collision checking method based on torque difference, in robot operational process, according to
The motion profile of robot predicts the ideal torque value in each joint in real time, and calculates the ideal torque value in each joint in real time
Difference between the actual samples moment values in each joint, when the difference of ideal torque value and actual torque value exceeds collision threshold
When, it is considered as and collides, the motor of robot is made to shut down immediately, makes robot stop motion.Without in robot
Upper additional sensor changes without the structure to robot, and is suitable for any operating condition of robot, to operating condition
There is no any restrictions.
Optionally, entire collision detection process carries out offline, it is only necessary to which the result of prediction is used for collision detection
In sequence of threads, the program of collision detection is simple, and execution efficiency is high.Later use 3D motion modeling, by mechanical model
Relevant parameter, and electrical relevant parameter are configured, and track operating analysis, servo motion track can be carried out.
Technical solution provided by the invention the phenomenon that colliding in use for robot, can respectively be closed with robot
The torque of section controls the servo process of robot, in time reduce robot output torque, only slight contact and
It is not the collision of gravity, heavy losses caused by being hit so as to the precision of maintaining robot and reduction.
Fig. 2 is a kind of schematic diagram of the running parameter of mechanical model according to an embodiment of the present invention, as shown in Figure 2, comprising:
Quality, volume, surface area, barycentric coodinates, the principal axis of inertia and moment of inertia, the inertial tensor determined by center of gravity, by output coordinate
It is the inertial tensor determined.
Fig. 3 is a kind of schematic diagram of 3D operation anticollision flow chart according to an embodiment of the present invention, as shown in figure 3, including
Steps are as follows:
(1) according to quality, mass center, each coordinate parameters construct the mechanical model of robot.
It is alternatively possible to carry out MATLAB modeling to robot, the mechanical model of robot is obtained.
(2) the servo-drive parameter and torque of robot are set.
(3) controller motion model is established.
(4) design and analysis of motion profile is carried out according to the mechanical model of robot and motion model.
(5) output analysis result.
Optionally, technical solution provided by the invention can monitor initial value, real value and the gap value of torque value
Etc. data, and analyze data, repeatedly tested.
It is alternatively possible to optimize the matching of motion model and mechanical model.
It is alternatively possible to carry out the simulated collision test of robot zero load and load according to motion model and mechanical model.
Optionally, it records a demerit collision result and analyzes the optimal value that can determine setting torque feedforward, and turned round according to robot
Square feedback function research achievement, expands other types.
Optionally, by constructing mechanical model, each mechanical parameter, coordinate etc. can be calculated.
Optionally, pass through the setting of servo-drive.It can be according to the memory parameter of servo parameter, parameter of electric machine correlation point
Analysis.
Optionally, pass through the foundation to robot motion model, mechanical parameter analysis, Its Track Design etc..
Optionally, Trajectory Design can be carried out according to the mechanical model of robot and motion model, it is unloaded to be touched with what is loaded
Hit experimental test；
According to robot dynamics' optimality criterion and dynamic property, adjustment servo gain；It calculates and realizes predetermined movement
The upper lower limit value and anticollision embodiment of required power or torque, adjustment force or torque.
The above embodiment of the present invention, by whether there is between real-time detection robot and staff or workpieces processing
Collision, and impaction lesion is reduced by corresponding control strategy, make collision be unlikely to injure staff.
According to still another embodiment of the invention, a kind of storage medium is additionally provided, the storage medium includes storage
Program, wherein described program executes robot collision checking method described in any of the above embodiments when running.
According to still another embodiment of the invention, a kind of processor is additionally provided, the processor is used to run program,
In, described program executes robot collision checking method described in any of the above embodiments when running.
According to embodiments of the present invention, a kind of robot collision detecting device embodiment is additionally provided, it should be noted that should
Robot collision detecting device can be used for executing the robot collision checking method in the embodiment of the present invention, the embodiment of the present invention
In robot collision checking method can be executed in the robot collision detecting device.
Fig. 4 is a kind of schematic diagram of robot collision detecting device according to an embodiment of the present invention, as shown in figure 4, the dress
Setting may include: acquiring unit 41, for obtaining the motion profile in robot operational process and the actual torque in each joint
Value；First determination unit 43, for determining the ideal torque value in each joint of robot according to motion profile；Second determines
Unit 45, for determining whether robot collides by comparing ideal torque value and actual torque value.
It should be noted that the acquiring unit 41 in the embodiment can be used for executing the step in the embodiment of the present application
S102, the first determination unit 43 in the embodiment can be used for executing the step S104 in the embodiment of the present application, the embodiment
In the second determination unit 45 can be used for executing the step S106 in the embodiment of the present application.Above-mentioned module and corresponding step institute
The example of realization is identical with application scenarios, but is not limited to the above embodiments disclosure of that.
In embodiments of the present invention, by obtaining the reality of robot motion profile during the motion and each joint
Moment values, and determine according to motion profile the ideal torque value of each of robot key, then compare ideal torque value and reality
Border moment values determine ideal torque value and actual torque value with the presence or absence of difference, if ideal torque value and actual torque value exist
Difference, it is determined that robot collides, and has achieved the purpose that carry out collision detection to robot, to realize detection machine
The technical effect whether people collides, and then solve the technical issues of whether robot collides can not be detected.
As a kind of optional embodiment, the second determination unit includes: computing module, for calculating theoretical moment values and reality
The difference of border moment values；Determining module, for determining that robot collides in the case where difference is higher than predetermined threshold.
As a kind of optional embodiment, which can also include: first control unit, for theoretical by comparing
Moment values and actual torque value, after determining whether robot collides, in the case where detecting that robot collides,
It is out of service to control robot.
As a kind of optional embodiment, which can also include: setting unit, for running in acquisition robot
Motion profile in journey and before the actual torque value in each joint, the running parameter of setting robot in the process of running,
In, running parameter includes: mechanical parameter and kinematic parameter, wherein mechanical parameter includes at least quality and mass center, for indicating machine
The physical attribute of device people, kinematic parameter are used to indicate the motion conditions of robot；Construction unit, for being constructed according to mechanical parameter
The mechanical model of robot；Analogue unit is used for according to kinematic parameter, so that mechanical model dummy robot carries out simulation fortune
Dynamic, simulation obtains the motion profile of robot.
As a kind of optional embodiment, analogue unit includes: to establish module, for establishing movement mould according to kinematic parameter
Type；Determining module, for configuring servo-drive parameter corresponding with mechanical model and the parameter of electric machine based on motion model, determination is matched
Set result；Analog module, for carrying out motion trail analysis based on configuration result, simulation obtains the motion profile of robot.
As a kind of optional embodiment, which can also include: the second control unit, for according to movement rail
After obtaining the ideal torque value in each joint of robot, the minimum output torque of robot is determined according to motion profile for mark.
Fig. 5 is a kind of schematic diagram of robot according to an embodiment of the present invention, as shown in figure 5, the robot may include:
Equipment 51 is obtained, for obtaining the motion profile in robot operational process and the actual torque value in each joint；Controller 53,
For determining the ideal torque value in each joint of the robot according to the motion profile；Comparator 55, for passing through ratio
To the ideal torque value and the actual torque value, determine whether the robot collides.
In embodiments of the present invention, by obtaining the reality of robot motion profile during the motion and each joint
Moment values, and determine according to motion profile the ideal torque value of each of robot key, then compare ideal torque value and reality
Border moment values determine ideal torque value and actual torque value with the presence or absence of difference, if ideal torque value and actual torque value exist
Difference, it is determined that robot collides, and has achieved the purpose that carry out collision detection to robot, to realize detection machine
The technical effect whether people collides, and then solve the technical issues of whether robot collides can not be detected.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of robot collision checking method characterized by comprising
Obtain the motion profile in robot operational process and the actual torque value in each joint；
According to the motion profile, the ideal torque value in each joint of the robot is determined；
By comparing the ideal torque value and the actual torque value, determine whether the robot collides.
2. the method according to claim 1, wherein by comparing the ideal torque value and the actual torque
Value, determines whether the robot collides, comprising:
Calculate the difference of the ideal torque value and the actual torque value；
In the case where the difference is higher than predetermined threshold, determine that the robot collides.
3. the method according to claim 1, wherein by comparing the ideal torque value and the actual forces
Square value, after determining whether the robot collides, which comprises
In the case where detecting that the robot collides, it is out of service to control the robot.
4. the method according to claim 1, which is characterized in that in obtaining robot operational process
Motion profile and each joint actual torque value before, the method also includes:
The running parameter of the robot in the process of running is set, wherein the running parameter includes: mechanical parameter and movement
Parameter, wherein the mechanical parameter includes at least quality and mass center, for indicating the physical attribute of the robot, the fortune
Dynamic parameter is used to indicate the motion conditions of the robot；
The mechanical model of the robot is constructed according to the mechanical parameter；
According to the kinematic parameter, so that the mechanical model, which simulates the robot, carries out skimulated motion, simulation obtains described
The motion profile of robot.
5. according to the method described in claim 4, it is characterized in that, according to the kinematic parameter, so that the mechanical model mould
Intend the robot and carry out skimulated motion, simulation obtains the motion profile of the robot, comprising:
Motion model is established according to the kinematic parameter；
Servo-drive parameter corresponding with the mechanical model and the parameter of electric machine are configured based on the motion model, obtains configuration knot
Fruit；
Motion trail analysis is carried out based on the configuration result, simulation obtains the motion profile of the robot.
6. according to the method described in claim 5, it is characterized in that, obtaining the robot according to the motion profile
After the ideal torque value in each joint, the method also includes:
The minimum output torque of the robot is determined according to the motion profile.
7. a kind of robot collision detecting device characterized by comprising
Acquiring unit, for obtaining the motion profile in robot operational process and the actual torque value in each joint；
First determination unit, for determining the ideal torque value in each joint of the robot according to the motion profile；
Second determination unit, for determining that the robot is by comparing the ideal torque value and the actual torque value
It is no to collide.
8. a kind of robot characterized by comprising
Equipment is obtained, for obtaining the motion profile in robot operational process and the actual torque value in each joint；
Controller, for determining the ideal torque value in each joint of the robot according to the motion profile；
Comparator, for determining whether the robot occurs by comparing the ideal torque value and the actual torque value
Collision.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 6 described in robot collision checking method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 6 described in robot collision checking method.
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| CN111504682A (en) * | 2020-05-15 | 2020-08-07 | 深圳国信泰富科技有限公司 | Robot joint torque feasibility detection method and system |
| CN112405524A (en) * | 2020-10-20 | 2021-02-26 | 深圳拓邦股份有限公司 | Robot collision detection method and device and robot |
| CN114380246A (en) * | 2021-12-15 | 2022-04-22 | 罗伯泰克自动化科技（苏州）有限公司 | Method and system for monitoring running state of fork of stacker |
| CN115674190A (en) * | 2022-09-30 | 2023-02-03 | 深圳市越疆科技有限公司 | Cooperative mechanical arm and motion control method, collision detection method and control system thereof |
| CN115890666A (en) * | 2022-11-18 | 2023-04-04 | 深圳市优必选科技股份有限公司 | Robot, collision protection method and device thereof, and storage medium |
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