CN115890662B - A robot collision control method, control device, computer equipment and medium - Google Patents
A robot collision control method, control device, computer equipment and medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a robot collision control method, a control device, computer equipment and a medium, wherein the control method firstly acquires state detection information, then when the state detection information is collision, and acquiring a collision output torque limit value of the joint motor of the robot, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, and finally outputting the collision output torque limit value. By using the method, in the deceleration stopping process after the robot detects collision, the damage of the joint motor and the speed reducer of the robot body can be reduced, the damage of the speed reducer caused by overlarge output torque of the joint motor is avoided, the service life of the robot is prolonged, and meanwhile, the robot is stopped normally, so that the safety of peripheral equipment and personnel can be ensured.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling collision of a robot, a computer device, and a medium.
Background
Because of the limitation of the current automation development, many production lines cannot realize the automation of the whole process, and various abnormal risks can be introduced by the existence of manual positions. For example, after long physical work, workers are prone to misoperation under fatigue conditions, and the downstream robots are caused to collide, and multiple collisions inevitably cause damage to the robots until the robots are completely scrapped.
Disclosure of Invention
The embodiment of the invention provides a robot collision control method, a control device, computer equipment and a medium, which can reduce the damage of a joint motor and a speed reducer of a robot body and ensure the safety of the robot body and peripheral equipment in the deceleration and shutdown process after the robot detects collision.
In a first aspect, an embodiment of the present invention provides a method for controlling a collision of a robot, including:
acquiring state detection information;
When the state detection information is collision, acquiring a collision output torque limit value of a joint motor of the robot, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision;
and outputting the collision output torque limit value.
Optionally, acquiring the collision output torque limit of the joint motor of the robot includes:
And acquiring the collision output torque limit value according to the current robot state.
Optionally, the collision output torque limit T k satisfies T k＝M*Ak+C*Vk+G*f(Pk)+Tband;
Wherein M is an inertial parameter, A k is acceleration, C is a damping parameter, V k is an actual speed, G is a static load parameter, f (P k) is a nonlinear function of P k, T band is a torque limiting bandwidth, and P k is an actual position.
Optionally, after acquiring the state detection information, the method further includes:
Decelerating and stopping according to the current instruction speed, and acquiring a position instruction value;
And outputting the position instruction value.
Optionally, the position command value P cmd satisfies:
Pcmd＝P0+V0*t-0.5*Acc*t*t;
wherein P 0 is a position command at the time of collision, V 0 is a joint command speed, t is time, and A cc is deceleration.
Optionally, after outputting the collision output torque limit value, further comprising:
acquiring driving information;
judging whether shutdown is completed or not when the driving information is not driving error report;
When stopping is not completed, acquiring a collision output torque limit value of the joint motor of the robot again, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision;
and outputting the updated collision output torque limit value.
Optionally, when the shutdown is not completed, acquiring the collision output torque limit value of the joint motor of the robot again, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, and further comprising:
When stopping is not completed, stopping the machine again according to the current instruction speed, and acquiring a position instruction value;
and outputting the updated position instruction value.
In a second aspect, an embodiment of the present invention further provides a robot collision control apparatus, including:
The state detection information acquisition module is used for acquiring state detection information;
The output torque limit value acquisition module is used for acquiring a collision output torque limit value of the joint motor of the robot when the state detection information is collision, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision;
And the collision output torque limit value output module is used for outputting the collision output torque limit value.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the control method according to any one of the first aspects when executing the program.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the control method according to any one of the first aspects.
The embodiment of the invention provides a robot collision control method, a control device, computer equipment and a medium, wherein the control method firstly acquires state detection information, then when the state detection information is collision, and acquiring a collision output torque limit value of the joint motor of the robot, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, and finally outputting the collision output torque limit value. By using the method, in the deceleration stopping process after the robot detects collision, the damage of the joint motor and the speed reducer of the robot body can be reduced, the damage of the speed reducer caused by overlarge output torque of the joint motor is avoided, the service life of the robot is prolonged, and meanwhile, the robot is stopped normally, so that the safety of peripheral equipment and personnel can be ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a robot collision control method according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of a principle of generation of primary damage and secondary damage of a robot according to an embodiment of the present invention;
Fig. 3 is a schematic flow chart of another robot collision control method according to an embodiment of the present invention;
Fig. 4 is a schematic flow chart of a state transition of a robot according to an embodiment of the present invention;
FIG. 5 is a graph showing the variation of the output torque value of the joint motor in the case of a collision of a robot according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of another robot collision control method according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of another robot collision control method according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of another robot collision control method according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a robot collision control apparatus according to an embodiment of the present invention;
Fig. 10 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic flow chart of a robot collision control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a robot collides with a peripheral device or a peripheral person, the control method may be performed by a robot collision control apparatus, the control apparatus may be implemented in a form of hardware and/or software, and the control apparatus may be configured in a control board. As shown in fig. 1, the control method includes:
S110, acquiring state detection information.
Specifically, when the robot collides with the peripheral device or the peripheral person, the output current of the joint motor of the robot may be changed, and whether the robot collides may be judged by detecting the change of the output current of the joint motor.
And S120, when the state detection information is collision, acquiring a collision output torque limit value of a joint motor of the robot, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision.
Specifically, the output torque limit value is a driver parameter of the robot, and is used for limiting the maximum output torque of the joint motor of the robot, and the collision output torque limit value is the maximum output torque of the joint motor after the robot collides. According to the change of the output current of the joint motor of the robot, when the acquired state detection information of the robot is collision, the collision output torque limit value of the joint motor of the robot is acquired, the damage to the joint motor and the speed reducer of the robot body in the decelerating and stopping process of the robot is reduced by adjusting the collision output torque limit value of the joint motor of the robot, the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, the damage to the speed reducer caused by overlarge output torque of the joint motor can be avoided, the robot body is protected, and the service life of the robot is prolonged.
The speed reducer is connected with the joint motor and is used for converting the torque of the joint motor into the torque of the speed reducer to be used as output so as to drive subsequent devices (such as a mechanism rod piece). Typically, the torque of the joint motor has a fixed or variable ratio to the torque of the speed reducer.
S130, outputting a collision output torque limit value.
Specifically, fig. 2 is a schematic diagram of the principle of primary injury and secondary injury of the robot provided by the embodiment of the invention, as shown in fig. 2, the damage of the joint motor and the speed reducer generated immediately after the collision between the robot and the peripheral equipment or the peripheral personnel is unavoidable, which is called primary injury, but after the collision between the robot and the joint motor, the output torque limit value of the joint motor of the robot is not reduced, and the damage of the joint motor and the speed reducer caused by the overlarge output torque of the joint motor is avoided, which is called secondary injury. When the state detection information is that collision occurs, and the robot is blocked by an obstacle in the decelerating and stopping process, in order to overcome the blocking of the obstacle, the robot can improve the output torque value of the joint motor, and if the output torque of the joint motor is too large, the speed reducer can be damaged. At this time, the output torque value of the joint motor of the robot needs to be constrained in real time, the collision output torque limit value of the joint motor of the robot is obtained, the value of the collision output torque limit value is reasonably adjusted according to the output collision output torque limit value, the damage of a speed reducer caused by overlarge output torque of the joint motor of the robot is avoided to the greatest extent, the joint motor and the speed reducer of the body of the robot are protected, meanwhile, the collision output torque limit value of the joint motor of the robot is reduced, the robot is ensured to be stopped normally, and the safety of peripheral equipment and peripheral personnel is also ensured.
According to the technical scheme, the state detection information is firstly obtained, then when the state detection information is collision, the collision output torque limit value of the joint motor of the robot is obtained, the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, and finally the collision output torque limit value is output. By using the method, in the deceleration stopping process after the robot detects collision, the damage of the joint motor and the speed reducer of the robot body can be reduced, the damage of the speed reducer caused by overlarge output torque of the joint motor is avoided, the service life of the robot is prolonged, and meanwhile, the robot is stopped normally, so that the safety of peripheral equipment and personnel can be ensured.
Fig. 3 is a schematic flow chart of another method for controlling collision of a robot according to an embodiment of the present invention, where the method is optimized based on the above embodiment, and specifically details the content of acquiring the collision output torque limit value of the joint motor of the robot in S120. For details not yet described in detail in this embodiment, reference is made to the above-mentioned embodiments. As shown in fig. 3, the control method includes:
S210, acquiring state detection information.
And S220, when the state detection information is collision, acquiring a collision output torque limit value according to the current robot state, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision.
Specifically, fig. 4 is a schematic flow chart of state transition of a robot, as shown in fig. 4, wherein a manual mode is that a worker controls the robot to operate at a low speed through a handle, the robot operates in a debugging state, an automatic mode is that an automatic controller (for example, a PLC) directly controls the robot to operate at a high speed through signals, the robot is in a production state, a protection mode belongs to the automatic mode, and the robot automatically enters the protection mode after collision in the operation process of the robot in the automatic mode. In the manual mode, the robot can reduce the output torque limit value of the joint motor, so that the robot can safely run at a low speed, in the automatic mode, the robot can improve the output torque limit value of the joint motor, so that the robot can efficiently run at a high speed, in the protection mode, the robot can update the output torque limit value of the joint motor in real time according to state detection information, after the robot collides, the robot can reduce the output torque limit value of the joint motor, the damage of the joint motor and a speed reducer of the robot is reduced, and after the robot releases the collision, the robot can improve the output torque limit value of the joint motor and continuously run at the high speed.
Alternatively, the collision output torque limit T k satisfies T k＝M*Ak+C*Vk+G*f(Pk)+Tband;
Wherein M is an inertial parameter, A k is acceleration, C is a damping parameter, V k is an actual speed, G is a static load parameter, f (P k) is a nonlinear function of P k, T band is a torque limiting bandwidth, and P k is an actual position.
Specifically, when the state detection information is that a collision occurs, a collision output torque limit value is acquired according to the current robot state. For the robot, M is related to mass and inertia parameters of the robot, C is related to mechanical friction and Coriolis force, G is related to mass parameters and current pose of the robot, and the three mechanical parameters can be obtained through the identification of kinetic parameters of the robot. T band is torque limiting bandwidth, and the smaller T band is, the better the protection effect on the robot body is, in addition, T band can make up errors of a robot theoretical model, and generally, 20% -40% of rated output torque limit value of a joint motor is adopted.
S230, outputting a collision output torque limit value.
According to the technical scheme, the state detection information is firstly obtained, then when the state detection information is collision, the collision output torque limit value is obtained according to the current robot state, wherein the robot state comprises a manual mode, an automatic mode and a protection mode, and finally the collision output torque limit value is output. By using the method, after the collision of the robot is detected, the limit value of the output torque of the joint motor is reasonably reduced, the damage to the speed reducer caused by overlarge output torque of the joint motor is avoided, the normal speed reduction and shutdown of the robot are ensured, and the safety of peripheral equipment and peripheral personnel is protected.
Further, with continued reference to fig. 4, s1 means that when the state of the robot is switched from the automatic mode to the manual mode, the robot is controlled by a worker through a handle, and in order to secure the safety of peripheral devices and peripheral persons, it is necessary to reduce the output torque limit value of the joint motor of the robot. At this time, the output torque limit T motor of the joint motor of the robot satisfies the condition T motor＝Treducer/Gear, wherein T reducer is the maximum allowable output torque limit of the joint speed reducer of the robot, and Gear is the reduction ratio of the joints of the robot. The output torque limit value of the joint motor of the robot only needs to be updated once in the process of switching the state of the robot from the automatic mode to the manual mode. S2 means that when the state of the robot is switched from the manual mode to the automatic mode, or the robot is already in the protection mode and the collision state is released, the robot is controlled by the automation controller, and in order to ensure high-speed operation efficiency, it is necessary to increase the output torque limit value of the joint motor of the robot. At this time, the output torque limit value T motor of the joint motor of the robot satisfies the condition T motor＝Tmax＝3*Trated, wherein T max is the maximum allowable output torque limit value of the joint motor of the robot, and T rated is the rated output torque limit value of the joint motor of the robot. S3, the robot is in a protection mode and enters the protection mode at the moment of collision, and the robot can update the output torque limit value of the joint motor in real time according to the state detection information. At this time, the collision output torque limit T k of the joint motor of the robot satisfies T k＝M*Ak+C*Vk+G*f(Pk)+Tband.
In the process of state transition of the robot in S3, fig. 5 is a graph of change of the output torque value of the joint motor under the situation of collision of the robot, as shown in fig. 5, if the robot collides with a peripheral device or a peripheral person, the protection mode of the robot is started, which will produce different effects. It should be noted that, after the collision of the robot, the limit value of the output torque of the joint motor of the robot is not reduced, and damage to the joint motor and the speed reducer due to the excessive output torque of the joint motor can be avoided. When the robot starts the protection mode and detects that the robot collides, the robot can update the output torque limit value of the joint motor in real time according to the state detection information, so that the output torque of the joint motor is prevented from continuously rising after the robot is blocked by the obstacle, and the effect of protecting the joint motor and the speed reducer of the robot is achieved. When the robot starts the protection mode, after the robot is detected to collide, T k is the collision output torque limit value of the joint motor of the robot, and compared with the situation that the robot does not collide, the output torque value of the joint motor is increased. When the robot does not start the protection mode, after collision of the robot is detected, T max is the maximum allowable output torque limit value of the joint motor of the robot, three times of the rated output torque limit value of the joint motor of the robot, and compared with the situation that the robot does not collide, the output torque value of the joint motor is increased. The protection mode can reduce the collision output torque limit value of the joint motor of the robot to a certain extent, can well protect the joint motor and the speed reducer, and can obtain the following relation, T k＜Tmax.
Fig. 6 is a schematic flow chart of another method for controlling collision of a robot according to an embodiment of the present invention, where the method is optimized based on the above embodiment, and specifically the content after the state detection information is acquired in S110 is added. For details not yet described in detail in this embodiment, reference is made to the above-mentioned embodiments. As shown in fig. 6, the control method includes:
S310, acquiring state detection information.
S320, decelerating and stopping according to the current instruction speed, and acquiring a position instruction value.
Specifically, when the robot is in an automatic mode and operates at a high speed, after the robot collides through the state detection information, the robot automatically enters a protection mode, and the output torque limit value of the joint motor is reduced. The joint command speed at the moment of collision can be obtained, and the position command value after collision can be calculated through the relation between the joint command speed and the position command value. From the actual joint velocity and position values at the moment of collision, a collision output torque limit can be calculated. At any moment after collision, the collision output torque limit value of the joint motor can be updated in real time through the actual joint speed and the position value, the output torque limit value of the joint motor is reasonably reduced, and the damage of the joint motor and the speed reducer of the robot body is reduced.
Optionally, the position command value P cmd satisfies P cmd＝P0+V0*t-0.5*Acc ×t;
wherein P 0 is a position command at the time of collision, V 0 is a joint command speed, t is time, and A cc is deceleration.
Specifically, at the moment when the robot collides, t=0. According to the value of the joint command speed in the formula, the value of a position command can be correspondingly obtained.
S330, outputting a position instruction value.
Specifically, the processor of the robot can detect the joint command speed in real time and calculate the obtained position command value, and reasonably adjust the output torque limit value of the joint motor.
And S340, when the state detection information is collision, acquiring a collision output torque limit value of the joint motor of the robot, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision.
S350, outputting a collision output torque limit value.
According to the technical scheme, before the collision output torque limit value of the joint motor of the robot is obtained, the relation between the two parameters of the actual joint speed and the position value and the collision output torque limit value is described in detail, by the aid of the method, the collision output torque limit value of the joint motor of the robot can be updated in real time according to the real-time joint speed and the position value of the robot in the deceleration stopping process after collision, damage to the joint motor and the speed reducer of the robot is reduced, and service life of the robot is prolonged.
Fig. 7 is a schematic flow chart of another method for controlling collision of a robot according to an embodiment of the present invention, where the method is optimized based on the above embodiment, and specifically increases the content after the output collision output torque limit in S130. For details not yet described in detail in this embodiment, reference is made to the above-mentioned embodiments. As shown in fig. 7, the control method includes:
S410, acquiring state detection information.
And S420, when the state detection information is collision, acquiring a collision output torque limit value of a joint motor of the robot, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision.
S430, outputting a collision output torque limit value.
S440, obtaining driving information.
Specifically, the processor of the robot may acquire information of the driver in real time, and if the robot operates normally, the driver may not report errors, but if the robot collides with a peripheral device or a peripheral person, the driver may report errors.
S450, judging whether shutdown is completed or not when the driving information is not the driving error.
Specifically, after the robot collides with the peripheral equipment or the peripheral personnel, the driver should report errors to stop the robot immediately, or the robot is stopped normally after the deceleration process is completed. If the driving information of the driver is not driving error after the robot collides with the peripheral equipment or the peripheral personnel, the robot is judged to be in a deceleration process or the robot is stopped.
S460, acquiring the collision output torque limit value of the joint motor of the robot again when the shutdown is not completed, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision.
Specifically, when the robot does not finish stopping, the robot is in a speed reduction process, the collision output torque limit value of the joint motor of the robot is acquired in real time, the collision output torque limit value of the joint motor of the robot is properly regulated and reduced, damage to a speed reducer caused by overlarge output torque of the joint motor is avoided, the robot body is protected, and the service life of the robot is prolonged.
S470, outputting the updated collision output torque limit value.
Specifically, the output torque limit value of the joint motor of the robot is constrained in real time, the collision output torque limit value of the joint motor of the robot is obtained, the value of the collision output torque limit value is reasonably adjusted according to the output collision output torque limit value, the damage of a speed reducer caused by overlarge output torque of the joint motor of the robot is avoided to the greatest extent, the joint motor and the speed reducer of the body of the robot are protected, meanwhile, the collision output torque limit value of the joint motor of the robot is reduced, the robot is guaranteed to be stopped normally, and the safety of peripheral equipment and peripheral personnel is also guaranteed.
According to the technical scheme, when the driver does not send driving information of driving errors, whether the robot finishes decelerating and stopping is judged, when the robot does not finish stopping, the collision output torque limit value of the joint motor of the robot is obtained again, and the updated collision output torque limit value is output. By using the method, after the robot collides with peripheral equipment or peripheral personnel, the problem that the robot cannot be normally decelerated and stopped because the driving information of the driver is not reported wrong is avoided, the collision output torque limit value of the joint motor of the robot is restrained in real time, the damage of the speed reducer caused by overlarge output torque of the joint motor of the robot is avoided to the greatest extent, and the joint motor and the speed reducer of the body of the robot are protected.
Optionally, when the shutdown is not completed, acquiring the collision output torque limit value of the joint motor of the robot again, wherein before the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, the method further comprises:
s480, when stopping is not completed, stopping is decelerated according to the current command speed again, and a position command value is obtained.
Specifically, when the robot is in the deceleration process but does not stop, the joint command speed at the moment of collision can be obtained, and the position command value after collision can be calculated through the relationship between the joint command speed and the position command value. From the actual joint velocity and position values at the moment of collision, a collision output torque limit can be calculated. At any moment after collision, the collision output torque limit value of the joint motor can be updated in real time through the actual joint speed and the position value, the output torque limit value of the joint motor is reasonably reduced, and the damage of the joint motor and the speed reducer of the robot body is reduced.
S490, outputting the updated position command value.
Specifically, according to the formula that the position command value and the joint command speed meet, the value of one joint command speed can be obtained, the value of one position command value can be corresponding, the processor of the robot can detect the joint command speed in real time, and the corresponding position command value is calculated and obtained, so that the robot is controlled to stop in a decelerating way.
Illustratively, within the robotic system, the actual position, actual speed is acquired by the sensor, while the commanded position, commanded speed is calculated by the robotic controller itself, the former being the state and the latter being the command.
Fig. 8 is a flow chart of another method for controlling collision of a robot according to an embodiment of the present invention, as shown in fig. 8, after the robot collides with a peripheral device or a peripheral person, the robot in an automatic mode automatically enters a protection mode, and is decelerated and stopped at a joint command speed at the moment of collision, a corresponding position command value can be calculated according to the joint command speed at this moment, and then a collision output torque limit T k is calculated according to actual motion data (including an actual joint speed and a position value), so that in order to reduce damage to a joint motor and a speed reducer of the robot, the value of the collision output torque limit T k needs to be reduced appropriately, and the new position command value and the value of the collision output torque limit T k are continuously acquired, and the actual motion data in a driver is updated. In the process, if the driving information of the driver of the robot is driving error, the robot can stop in a normal speed reduction way, and the process is ended. If the driving information of the driver of the robot is not the driving error, judging whether the robot is stopped or not. If the robot has completed the deceleration stop normally, the flow ends. If the robot is still in the deceleration process and the stopping process is not completed, continuing to reduce the value of the collision output torque limit value T k, updating the acquired new position command value and the value of the collision output torque limit value T k into the driver until the driving information of the driver is a driving error report or the robot finishes the normal deceleration stopping process, and ending the flow.
Fig. 9 is a schematic structural diagram of a collision control apparatus for a robot according to an embodiment of the present invention, where the control apparatus may be adapted to a collision between the robot and a peripheral device or a peripheral person, and may be implemented in software and/or hardware and generally configured in a control board. As shown in fig. 9, the control device includes:
The system comprises a state detection information acquisition module 61 for acquiring state detection information, an output torque limit value acquisition module 62 for acquiring a collision output torque limit value of a joint motor of the robot when the state detection information is collision, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision, and a collision output torque limit value output module 63 for outputting the collision output torque limit value.
According to the technical scheme, the state detection information is firstly obtained, then when the state detection information is collision, the collision output torque limit value of the joint motor of the robot is obtained, the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision, and finally the collision output torque limit value is output. By using the method, in the deceleration stopping process after the robot detects collision, the damage of the joint motor and the speed reducer of the robot body can be reduced, the damage of the speed reducer caused by overlarge output torque of the joint motor is avoided, the service life of the robot is prolonged, and meanwhile, the robot is stopped normally, so that the safety of peripheral equipment and personnel can be ensured.
Alternatively, the output torque limit value acquisition module 62 may be specifically configured to acquire the collision output torque limit value according to the current robot state.
Optionally, the control device further comprises a position command value acquisition module and a position command value output module, wherein the position command value acquisition module is used for decelerating and stopping according to the current command speed and acquiring a position command value, and the position command value output module is used for outputting the position command value.
Optionally, the control device further includes a driving information acquisition module and a stopping judgment module, wherein the driving information acquisition module is used for acquiring driving information, and the stopping judgment module is used for judging whether stopping is completed when the driving information is not in driving error reporting. The output torque limit value obtaining module 62 may be further specifically configured to obtain, when the shutdown is not completed, a collision output torque limit value of the joint motor of the robot again, where the collision output torque limit value is smaller than an output torque limit value of the joint motor before the collision occurs, and the collision output torque limit value output module 63 may be further specifically configured to output the updated collision output torque limit value.
Optionally, the position command value obtaining module may be further configured to, when the shutdown is not completed, slow down the shutdown according to the current command speed again, and obtain a position command value, and the position command value output module may be further configured to output the updated position command value.
The robot collision control device provided by the embodiment of the invention can execute the robot collision control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 10 is a schematic structural diagram of a computer device according to an embodiment of the present invention. Terminal devices are intended to represent various forms of digital computers, such as laptops, desktops, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Terminal devices may also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 10, the terminal device 10 includes one or more processors 11, and a storage means, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the processor 11, wherein the storage means stores computer programs executable by the one or more processors, and the processor 11 can perform various appropriate actions and processes according to the computer programs stored in the Read Only Memory (ROM) 12 or the computer programs loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the terminal device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the terminal device 10 are connected to the I/O interface 15, including an input unit 16 such as a keyboard, a mouse, etc., an output unit 17 such as various types of displays, speakers, etc., a storage unit 18 such as a magnetic disk, an optical disk, etc., and a communication unit 19 such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a robot collision control method.
In some embodiments, the robot collision control method may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the terminal device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot collision control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the robot collision control method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a terminal device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the terminal device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A robot collision control method, comprising:
acquiring state detection information;
When the state detection information is collision, acquiring a collision output torque limit value of a joint motor of the robot, wherein the collision output torque limit value is smaller than an output torque limit value of the joint motor before collision;
outputting the collision output torque limit;
The collision output torque limit T k satisfies T k =M*Ak + C*Vk + G*f(Pk)+Tband;
Wherein M is an inertial parameter, A k is acceleration, C is a damping parameter, V k is an actual speed, G is a static load parameter, f (P k) is a nonlinear function of P k, T band is a torque limiting bandwidth, and P k is an actual position.
2. The control method according to claim 1, characterized in that acquiring the collision output torque limit value of the joint motor of the robot includes:
And acquiring the collision output torque limit value according to the current robot state.
3. The control method according to claim 1, characterized by further comprising, after acquiring the state detection information:
Decelerating and stopping according to the current instruction speed, and acquiring a position instruction value;
And outputting the position instruction value.
4. A control method according to claim 3, wherein the position command value P cmd satisfies:
Pcmd=P0 + V0*t - 0.5*Acc*t*t;
wherein P 0 is a position command at the time of collision, V 0 is a joint command speed, t is time, and A cc is deceleration.
5. The control method according to claim 1, characterized by further comprising, after outputting the collision output torque limit value:
acquiring driving information;
judging whether shutdown is completed or not when the driving information is not driving error report;
When stopping is not completed, acquiring a collision output torque limit value of the joint motor of the robot again, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision;
and outputting the updated collision output torque limit value.
6. A control method according to claim 3, wherein, when the stop is not completed, the collision output torque limit value of the joint motor of the robot is acquired again, the collision output torque limit value being smaller than the output torque limit value of the joint motor before the collision occurs, further comprising:
When stopping is not completed, stopping the machine again according to the current instruction speed, and acquiring a position instruction value;
and outputting the updated position instruction value.
7. A robot collision control apparatus, comprising:
The state detection information acquisition module is used for acquiring state detection information;
The output torque limit value acquisition module is used for acquiring a collision output torque limit value of the joint motor of the robot when the state detection information is collision, wherein the collision output torque limit value is smaller than the output torque limit value of the joint motor before collision;
The collision output torque limit value output module is used for outputting the collision output torque limit value;
The collision output torque limit T k satisfies T k =M*Ak + C*Vk + G*f(Pk)+Tband;
Wherein M is an inertial parameter, A k is acceleration, C is a damping parameter, V k is an actual speed, G is a static load parameter, f (P k) is a nonlinear function of P k, T band is a torque limiting bandwidth, and P k is an actual position.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the control method according to any one of claims 1-6 when executing the program.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the control method as claimed in any one of claims 1-6.
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| EP2380711A1 (en) * | 2003-07-29 | 2011-10-26 | Panasonic Corporation | Robot arm control method |
| KR102370879B1 (en) * | 2017-09-12 | 2022-03-07 | 주식회사 한화 | Method and Apparatus for controlling a collaborativve robot |
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