CN111113488B - Robot collision detection device and method - Google Patents
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- 238000001514 detection method Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims description 17
- 230000001133 acceleration Effects 0.000 claims abstract description 61
- 230000001681 protective effect Effects 0.000 claims abstract description 22
- 230000008030 elimination Effects 0.000 claims abstract description 8
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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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Abstract
The invention discloses a robot collision detection device and a collision detection method, wherein the robot collision detection device consists of a protective cover, a rotary adjusting platform, an acceleration measuring unit of a micro-electro-mechanical system type and a locking screw; the calibration between the coordinate system of the acceleration measuring unit of the micro-electro-mechanical system type and the coordinate system of the robot can be realized by adjusting the connecting part between the collision detection device and the robot and the rotary adjusting platform; the acceleration information of the tail end of the robot can be measured by utilizing the acceleration measuring unit of the micro-electro-mechanical system type and the band elimination filter; and the collision detection of the robot can be realized by combining the acquired robot terminal acceleration information, the kinematics of the robot and the differential model thereof. The robot collision detection device and the collision detection method can effectively improve the collision detection capability of the robot on the basis of reducing the system cost as much as possible.
Description
Technical Field
The invention relates to a robot collision detection device and a collision detection method.
Background
The safety performance of the robot is of great importance in the human-computer interaction process, and the safety performance of the robot is directly determined by the machine collision detection capability. At present, the methods commonly adopted by robot collision detection can be divided into three methods, namely collision detection based on a current loop, collision detection based on a joint torque sensor and collision detection based on electronic skin. The collision detection based on the current loop is to estimate the external force applied to the robot by combining the torque feedback information of the current loop on the basis of identifying the dynamic model of the robot and judge whether the robot collides; the collision detection based on the joint torque sensor directly estimates the external force applied to the robot according to the feedback information of the joint torque sensor, and judges whether the robot collides; the electronic skin based collision detection is to estimate whether the robot is subjected to external force or not according to the detection information of the pressure sensor in the electronic skin on the surface of the robot and judge whether the robot collides or not.
However, since the complex kinetic model of the robot is difficult to be accurately identified, the current loop-based collision detection method has low sensitivity and reliability. In addition, since the torque sensor and the electronic skin are expensive, the cost will be sharply increased when they are used in a robot in large quantities, and thus it is difficult to widely apply the joint torque sensor-based collision detection and the electronic skin-based collision detection method.
The acceleration measuring unit of the micro-electro-mechanical system type with relatively low price can accurately measure the space three-dimensional acceleration information of the system, is widely applied to the inertial navigation of the mobile robot at present, and provides a good solution for part of motion sensing functions of the mobile robot. However, the device is not applied to collision detection functions in the fields of industry, collaboration, medical robots and the like, and at present, a robot collision detection device based on an acceleration measurement unit of a micro-electro-mechanical system type, a rapid calibration method of the device in a robot system, a robot system vibration characteristic identification method based on the acceleration measurement unit of the micro-electro-mechanical system type and a perfect robot collision detection method are lacked.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a robot collision detection device and a collision detection method. The relevant device and the detection method are designed based on the acceleration measurement unit of the micro-electro-mechanical system type, and the collision detection and avoidance functions of the robot are realized.
The robot collision detection device of the invention is composed of a protective cover 2, a rotary adjusting platform 3 and an acceleration measuring unit 4 in a micro-electromechanical system type. The bottom of the rotary adjusting platform 3 is provided with an installation shaft, the protective cover is provided with a cavity, the bottom of the cavity is provided with a shaft hole, the installation shaft of the rotary adjusting platform 3 is sleeved in the shaft hole of the protective cover, and the rotary adjusting platform 3 and the protective cover 2 are coaxially installed. The shaft shoulder end face of the rotary adjusting platform 3 is attached to the bottom surface of the cavity of the protective cover 2, and the rotary adjusting platform 3 is fixed in the cavity of the protective cover 2. The acceleration measuring unit 4 of the mems type is fixedly mounted on the rotation adjustment platform 3, with its center located on the axis of the rotation adjustment platform 3.
The collision detecting device can be freely connected and detached with the tail end of the robot through threads.
The method for detecting robot collision by using the device of the invention comprises the following steps:
the collision detecting device is mounted at the end of the robot.
Obtaining, by an acceleration measurement unit of the microelectromechanical system type, an end acceleration vector a ' of the robot represented under its own coordinate system O ' -y ' z ' x 'I＝[a′Ix,a′Iy,a′Iz]TIs measured.
First, the tip of the robot is driven to move so that the axis thereof is parallel to the z-axis in the robot coordinate system O-xyz, and the connecting portion of the protective cover and the robot is finely adjusted so that a'IzAnd-g (g ═ 9.81 m/s)2) The difference is smaller than the set value. Then, the robot tip is driven to reciprocate in the x-axis direction of the coordinate system O-xyz, and a 'is adjusted by fine-tuning the rotational adjustment stage'IyTending towards 0. Finally, when the two aforementioned conditions are met, it can be considered that the coordinate system O '-x' y 'z' of the mems type acceleration measurement unit is aligned with the robot coordinate system O-xyz, so that the coordinate system calibration between the collision detection apparatus and the robot is achieved.
Discretizing the robot work space, exciting the tail end of the robot at each discrete point by using an excitation method such as hammering, and the like, and recording an acceleration signal a 'recorded by an acceleration measuring unit of a micro-electro-mechanical system type'IPerforming fast Fourier transform analysis to obtain the first-order natural frequency f of the robot at the discrete point, further obtaining the distribution of the first-order natural frequency f in the whole working space, and determining the maximum value fmaxAnd minimum value fminFinally obtaining the bandwidth range [ f ] of the first-order natural frequency f of the robotmin,fmax]。
The band elimination filter is used for eliminating the influence of the first-order inherent vibration characteristic of the robot on the measurement result of the acceleration measurement unit of the micro electro mechanical system type. Wherein, the stop band bandwidth range of the band-stop filter and the deviceThe bandwidth ranges of the first-order natural frequency f of the robot are the same, the passband bandwidth range can be set according to the fact whether other interference signals exist in the actual system or not, the maximum passband attenuation and the minimum stopband attenuation can be set according to the amplitude requirement of the actual signal, and finally the filtered acceleration signal a'If＝BandStopFilter(a′I) Where BandStopFilter () represents a band stop filter function.
Combining the Denavit-Hartenberg (DH) parameters of the robot and the position theta of each jointi(1<i<n, n is the degree of freedom of the robot), and the terminal acceleration vector a expressed under the robot coordinate system O-yzx is obtained through the rotation transformation between the coordinate systemsIf＝[aIfx,aIfy,aIfz]TMeasured value of (a)If＝Ra′IfWhere R denotes the rotation transformation from the mems type acceleration measurement unit coordinate system O '-y' z 'x' to the robot coordinate system O-yzx.
Method for obtaining terminal acceleration of robot by combining kinematics and differential model thereof
Wherein θ ═ θ1,θ2,...,θn]T、
And
respectively are joint position, velocity and acceleration vector of the robot, J (theta) is a Jacobian matrix of the robot,
is a jacobian differential matrix of the robot.
Setting a collision detection threshold value epsilon according to actual sensitivity requirements, when | acx-aIfx|＞ε、|acy-aIfyIf is > epsilon or acz-aIfzIf any condition is satisfied | > epsilonAnd when the robot collides with the outside, the robot immediately executes a braking instruction. When | acx-aIfx| is greater than ε and | acy-aIfy| is greater than ε and | acz-aIfzIf the conditions are more than epsilon, the robot is considered not to collide with the external environment, and the robot continues to execute the original motion instruction.
Compared with the existing collision detection scheme based on a torque sensor and the collision detection scheme based on the electronic skin, the robot collision detection device and the detection method greatly save the cost, and overcome the problem that the conventional collision detection scheme based on a current loop has low sensitivity and reliability of a collision detection function due to inaccurate identified dynamic models. The coordinate calibration method between the collision detection device and the robot can quickly and accurately finish the initial calibration work of the collision detection device in the robot system. The invention establishes the filtering method of the collision detection device by combining the vibration characteristic of the robot and the band elimination filter, and can effectively reduce the influence of the low-order inherent vibration characteristic of the robot on the measurement signal of the collision detection device.
Drawings
Fig. 1 is a schematic structural diagram of a robot collision detection device according to the present invention.
Fig. 2 is an exploded view of the robot collision detecting device of the present invention.
Fig. 3 is a schematic view of the installation structure of the robot collision detecting device of the present invention in a robot.
Fig. 4 is a flow chart of a robot collision detection method of the present invention.
Detailed Description
The process of the present invention will be described in further detail below with reference to examples and the accompanying drawings.
As shown in fig. 1 and 2, the collision detecting apparatus 1 is composed of a protective cover 2, a rotation adjusting platform 3, an acceleration measuring unit 4 of a micro electro mechanical system type, and a locking screw 5. The bottom of the rotary adjusting platform 3 is provided with an installation shaft, the protective cover 2 is provided with a cavity, the bottom of the cavity is provided with a shaft hole, the installation shaft of the rotary adjusting platform 3 is sleeved in the shaft hole of the protective cover 2, and the rotary adjusting platform 3 and the protective cover 2 are coaxially installed. The shaft shoulder end face of the rotary adjusting platform 3 is attached to the bottom surface of the cavity of the protective cover 2, and the rotary adjusting platform 3 is fixed in the cavity of the protective cover 2 through a locking screw 5. The acceleration measuring unit 4 of the mems type is fixedly mounted on the rotation adjustment platform 3 with its center on the axis of the rotation adjustment platform 3. The collision detecting device 1 is freely attached to and detached from the end of the robot 6 by means of a screw.
When the collision detection device 1 is used for detecting the collision of the robot 6, the specific steps required to be taken are as follows:
As shown in FIGS. 2 to 3, the terminal acceleration vector a 'of the robot 6 represented under its own coordinate system O' -x 'y' z 'is obtained by the acceleration measuring unit 4 of the MEMS type'I＝[a′Ix,a′Iy,a′Iz]T. To complete the calibration of the coordinate system between the collision detecting device 1 and the robot 6, the following steps are required:
first, the tip of the robot 6 is driven to move so that its axis is parallel to the z-axis in the robot 6 coordinate system O-xyz. When the robot 6 is stationary, assuming that the z ' axis in the coordinate system of the acceleration measuring unit 4 of the mems type is parallel to the z axis in the coordinate system of the robot 6, there is a ' affected by the gravitational acceleration 'Iz＝-g(g＝9.81m/s2). When a large error is found in the above conditions, it is necessary to finely adjust the screw connection portion of the protective cover 2 and the robot 6 to a'IzThe difference from-g is less than the set value, and the z' axis is considered to be substantially parallel to the z axis.
Next, the end of the drive robot 6 is reciprocated in the x-axis direction of the coordinate system O-xyz, and a 'is adjusted by fine-tuning the rotation adjustment table 3'IyToward 0, the x' axis may be considered substantially parallel to the x axis.
Finally, when the z ' axis and the x ' axis are substantially parallel to the z axis and the x axis, respectively, it is believed that the y ' axis and the y axis also remain substantially parallel. At this time, the coordinate system O '-x' y 'z' of the mems-type acceleration measuring unit 4 is substantially aligned with the coordinate system O-yzx of the robot 6, thereby completing the coordinate system calibration process between the collision detecting apparatus 1 and the robot 6.
To prevent the measured acceleration signal a 'from being subjected to the low-order natural vibration characteristics of the robot 6'IThe low-order natural vibration characteristics of the robot 6 are analyzed to generate a large influence, and the acceleration signal a'IAnd (6) carrying out filtering processing.
First, the working space of the robot 6 is discretized (for example, uniformly discretized into 100 points), and the end of the robot 6 is excited at each discrete point by an excitation method such as hammering. After each time of excitation, fast fourier transform analysis is performed on the acceleration signal recorded by the acceleration measuring unit 4 of the micro electro mechanical system type, so that the first-order natural frequency f of the robot 6 at the sampling point is obtained, and finally the distribution condition of the first-order natural frequency f of the robot 6 in the working space is obtained.
Secondly, determining the maximum value f of the first-order natural frequency f in the working space of the robotmaxAnd minimum value fminFinally, the bandwidth range [ f ] of the first-order natural frequency f is obtainedmin,fmax]。
Finally, a band-stop filter (such as a butterworth band-stop filter) is used to eliminate the influence of the first-order natural frequency of the robot 6 on the measurement result of the acceleration measuring unit 4 of the micro-electro-mechanical system type. The stopband bandwidth range of the bandstop filter is the same as the bandwidth range of the first-order natural frequency f of the robot, the passband bandwidth range can be set according to the fact whether other interference signals exist in the actual system or not, the passband maximum attenuation and the stopband minimum attenuation can be set according to the amplitude requirement of the actual signal, and finally the filtered acceleration signal a 'is obtained'If＝BandStopFilter(a′I) Where BandStopFilter () represents a band stop filter function.
Since the terminal attitude of the robot 6 changes during the actual operation, the coordinate system O '-x' y 'z' of the mems type acceleration measuring unit 4 cannot be aligned with the robot coordinate system O-xyz, and at this time, coordinate transformation is required to obtain terminal acceleration information that can be expressed in the robot 6 coordinate system.
First, based on the Denavit-Hartenberg (DH) parameters of the robot 6 and the respective joint positions θ of the robot 6i(1<i<n, n is a degree of freedom of the robot), the terminal acceleration vector a expressed under the robot 6 coordinate system O-xyz can be obtained through the rotational transformation between the coordinate systemsIf＝[aIfx,aIfy,aIfz]TI.e. aIf＝Ra′IfWhere R denotes the rotation transformation from the mems type acceleration measuring unit 4 coordinate system O '-x' y 'z' to the robot 6 coordinate system O-xyz.
Secondly, the terminal acceleration vector of the robot 6 can be obtained by calculation in combination with kinematics and its differential model
Wherein θ ═ θ1,θ2,...,θn]T、
And
the joint position, velocity, and acceleration vector of the robot 6, respectively, J (θ) is a jacobian matrix of the robot 6,
is the jacobian differential matrix of the robot 6.
Finally, a collision detection threshold epsilon of the robot 6 is set according to the actual sensitivity requirement, when | acx-aIfx|＞ε、 |acy-aIfyIf is > epsilon or acz-aIfzWhen any condition that is greater than epsilon is met, the robot 6 is considered to collide with the outside, and the robot 6 immediately executes a braking instruction at the moment. When | acx-aIfx| is greater than ε and | acy-aIfy| is greater than ε and | acz-aIfzIf the values are greater than epsilon, the robot 6 is considered not to collide with the external environment, and the robot continues to execute the original motion instruction.
Claims (1)
1. A method for performing robot collision detection using a collision detection apparatus, characterized by:
the collision detection device consists of a protective cover (2), a rotation adjusting platform (3) and an acceleration measuring unit (4); the bottom of the rotary adjusting platform is provided with an installation shaft, the protective cover is provided with a cavity, the bottom of the cavity is provided with a shaft hole, the installation shaft of the rotary adjusting platform is sleeved in the shaft hole of the protective cover, and the rotary adjusting platform and the protective cover are coaxially installed; the shaft shoulder end surface of the rotary adjusting platform is attached to the bottom surface of the cavity of the protective cover, and the rotary adjusting platform is fixed in the cavity of the protective cover; the acceleration measuring unit is fixedly arranged on the rotary adjusting platform, and the center of the acceleration measuring unit is positioned on the axis of the rotary adjusting platform (3);
the collision detection device is arranged at the tail end of the robot;
the method comprises the following steps:
step 1. coordinate calibration between collision detection device and robot
The terminal acceleration vector a 'of the robot represented by the own coordinate system O' -x 'y' z 'is obtained by the acceleration measurement unit'I＝[a′Ix,a′Iy,a′Iz]TA measured value of (a);
if there is no mounting error in the collision detection device, when the robot is at rest, a 'is affected by the gravitational acceleration'Ix＝0,a′Iy＝0,a′Iz-g, wherein g is 9.81m/s2(ii) a When there is a large error in the above conditions, first, the connecting portion of the protective cover and the robot is finely adjusted so that a'IzThe difference between-g and-g is less than the set value; secondly, the tail end of the robot is driven to reciprocate along the x-axis direction of the self coordinate system O-xyz, and a 'is enabled by finely adjusting the rotary adjusting platform'IyTends towards 0; finally, when the two conditions are met, the micro-electromechanical system is considered to be in a micro-electromechanical systemThe coordinate system O '-x' y 'z' of the system type acceleration measurement unit is aligned with the robot coordinate system O-xyz, so that the coordinate system calibration between the collision detection device and the robot is realized;
step 2, combining the vibration characteristic of the robot and the band elimination filter, filtering the measured data of the acceleration measuring unit of the collision detection device
Discretizing the working space, exciting the tail end of the robot at each discrete point, and recording the acceleration signal a 'recorded by an acceleration measuring unit'IFourier transform analysis is carried out to obtain the first-order natural frequency f of the robot at the discrete point, the distribution of the first-order natural frequency f in the whole working space is further obtained, and the maximum value f of the distribution is determinedmaxAnd minimum value fminFinally obtaining the bandwidth range [ f ] of the first-order natural frequency f of the robotmin,fmax]；
The acceleration measurement unit eliminates the influence of the first-order natural vibration characteristic of the robot on the measurement result of the acceleration measurement unit by using the band elimination filter, the stopband bandwidth range of the band elimination filter is the same as the bandwidth range of the first-order natural frequency f of the robot, the passband bandwidth range can be set according to the fact whether other interference signals exist in the actual system, the maximum attenuation of the passband and the minimum attenuation of the stopband can be set according to the amplitude requirement of the actual signal, and finally the filtered acceleration signal a'If＝BandStopFilter(a′I) Wherein BandStopFilter () represents a band stop filter function;
step 3 Collision detection of the robot
Combining the Denavit-Hartenberg parameters of the robot and the position theta of each jointi，1<i<n and n are degrees of freedom of the robot, and the terminal acceleration vector a expressed under the robot coordinate system O-xyz is obtained through rotation transformation between coordinate systemsIf＝[aIfx,aIfy,aIfz]TIs measured by a measurement value of (a) or (b),
aIf＝Ra′If
wherein R represents a rotational transformation from the acceleration measurement unit coordinate system O '-x' y 'z' to the robot coordinate system O-xyz;
obtaining a calculated value of a robot tip acceleration vector
Wherein θ ═ θ1,θ2,...,θn]T、
And
respectively are joint position, velocity and acceleration vector of the robot, J (theta) is a Jacobian matrix of the robot,
is a Jacobi differential matrix of the robot (6);
a collision detection threshold value epsilon is set,
when | acx-aIfx|＞ε、|acy-aIfyIf is > epsilon or acz-aIfzIf any is more than epsilon, the robot is judged to collide with the external environment, and the robot (6) immediately executes a braking instruction
When | acx-aIfx| is greater than ε and | acy-aIfy| is greater than ε and | acz-aIfzIf the situation is more than epsilon, the robot is judged not to collide with the external environment, and the robot continues to execute the original motion instruction.
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| CN201911394987.9A CN111113488B (en) | 2019-12-30 | 2019-12-30 | Robot collision detection device and method |
| PCT/CN2020/111825 WO2021135315A1 (en) | 2019-12-30 | 2020-08-27 | Robot collision detection device and collision detection method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111113488B (en) * | 2019-12-30 | 2022-06-14 | 南京埃斯顿自动化股份有限公司 | Robot collision detection device and method |
| CN112611381A (en) * | 2020-10-29 | 2021-04-06 | 武汉哈船导航技术有限公司 | Artificial intelligence inertial navigation system |
| CN113992065B (en) * | 2021-11-04 | 2022-07-22 | 苏州天准科技股份有限公司 | Driving and control shaft device with locking protection and control method thereof |
| CN116330259A (en) * | 2021-12-22 | 2023-06-27 | 山东新松工业软件研究院股份有限公司 | Collaborative robot collision detection method based on decision tree |
| CN115091503A (en) * | 2022-06-06 | 2022-09-23 | 宁波安信数控技术有限公司 | A kind of injection molding machine manipulator collision detection method |
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| WO2021135315A1 (en) | 2021-07-08 |
| CN111113488A (en) | 2020-05-08 |
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