Robot collision detection method

Patent metadata

Field	Value
Publication number	US-10690558-B2
Application number	US-201615580832-A
Country	US
Kind code	B2
Filing date	Aug 24, 2016
Priority date	Sep 16, 2015
Publication date	Jun 23, 2020
Grant date	Jun 23, 2020

Abstract

An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.

First claim

The invention claimed is:

1. A method of detecting a collision, comprising:
providing a robot including a motor, a gear reducer connected to the motor, an encoder detecting a rotation of the motor, a temperature sensor installed to the encoder, and an object which is driven by the motor via the gear reducer;
estimating an external force torque caused by a collision as a collision torque estimation value by subtracting a dynamic torque obtained by an inverse dynamic calculation of the robot from a torque output to the gear reducer by the motor;
determining that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold;
setting the predetermined collision detection threshold to a first value in a case where a temperature detected by the temperature sensor is less than a predetermined temperature threshold;
setting the predetermined collision detection threshold to a second value less than the first value at a first time point at which the detected temperature is equal to or greater than the predetermined temperature threshold in a case where a maximum value of the collision torque estimation value is less than a first maximum value determination threshold in a period to the first time point from a second time point prior to the first time point by a predetermined length of time;
setting the predetermined collision detection threshold to the first value at the first time point in a case where the maximum value of the collision torque estimation value is equal to or greater than the first maximum value determination threshold in the period;
providing a second maximum value determination threshold which is greater than the first maximum value determination threshold and is less than the second value; and
obtaining a gradient of an approximate straight line obtained by approximating a change of the collision torque estimation value with respect to time in the period,
wherein said setting the predetermined collision detection threshold to the first value at the first time point in the case where the maximum value of the collision torque estimation value is equal to or greater than the first maximum value determination threshold in the period comprises:
setting the predetermined collision detection threshold to the second value at the first time point in a case where the maximum value of the collision torque estimation value is equal to or greater than the first maximum value determination threshold and is less than the second maximum value determination threshold and the gradient of the approximate straight line is negative in the period;
setting the predetermined collision detection threshold to the first value at the first time point in a case where the maximum value of the collision torque estimation value is equal to or greater than the first maximum value determination threshold and is less than the second maximum value determination threshold and the gradient of the approximate straight line is zero or positive in the period: and
setting the predetermined collision detection threshold to the first value at the first time point in a case where the maximum value of the collision torque estimation value is equal to or greater than the second maximum value determination threshold in the period.

2. The method of claim 1 , wherein said setting the predetermined collision detection threshold to the first value at the first time point in the case where the maximum value of the collision torque estimation value is equal to or greater than the second maximum value determination threshold in the period comprises setting the predetermined collision detection threshold to the first value at the first time point regardless of the gradient of the approximate straight line in a case where the maximum value of the collision torque estimation value is equal to or greater than the second maximum value determination threshold in the period.

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Nakata Hiroyuki
• Hashimoto Atsumi
• Yamamoto Ryosuke
• Honuchi Yasuyoshi

Classifications

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• G01L3/24

  Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity · CPC title

• G05B2219/40317

  For collision avoidance and detection · CPC title

• Y10S901/46

  Sensing device · CPC title

• B25J19/02

  Sensing devices · CPC title