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1. (WO2018205488) LIMITING PROTECTION METHOD AND DEVICE FOR MECHANICAL ARM, AND ROBOT

Pub. No.:    WO/2018/205488    International Application No.:    PCT/CN2017/104658
Publication Date: Fri Nov 16 00:59:59 CET 2018 International Filing Date: Sat Sep 30 01:59:59 CEST 2017
IPC: B25J 9/16
B25J 19/06
Applicants: GUANGZHOU SHIYUAN ELECTRONICS CO., LTD.
广州视源电子科技股份有限公司
Inventors: LUO, Hanjie
罗汉杰
Title: LIMITING PROTECTION METHOD AND DEVICE FOR MECHANICAL ARM, AND ROBOT
Abstract:
Disclosed is a limiting protection method for a mechanical arm. The method comprises: acquiring a current angle value and a current motion parameter of a joint of a mechanical arm (S11); determining a current safe motion parameter range according to the current angle value of the joint, and in a movable range of the joint, each angle value of the joint corresponding to a safe motion parameter range on a one-to-one basis (S12); and when the current motion parameter of the joint exceeds the current safe motion parameter range, controlling the immobilization of the joint (S13). The method can effectively enhance the reliability of limiting protection of the mechanical arm. Further disclosed are a limiting protection device for a mechanical arm, and a robot.