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Joint motor control method for robot, device, equipment and storage medium

A motor control and robot technology, applied in the field of robots, can solve problems such as low working efficiency of joint motors and damage to joint motors, so as to reduce performance waste and improve work efficiency.

Active Publication Date: 2021-03-12
TENCENT TECH (SHENZHEN) CO LTD
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  • Abstract
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Problems solved by technology

[0004] However, in order to avoid damage to the joint motor under continuous high-load operation, according to the solutions in the above-mentioned related technologies, it is necessary to strictly control the torque upper limit of the joint motor, resulting in a gap between the available torque upper limit of the joint motor and the maximum torque of the joint motor itself. Larger gap, which in turn leads to lower working efficiency of the joint motor

Method used

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  • Joint motor control method for robot, device, equipment and storage medium
  • Joint motor control method for robot, device, equipment and storage medium
  • Joint motor control method for robot, device, equipment and storage medium

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Embodiment Construction

[0053] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0054] 1) Artificial Intelligence (AI)

[0055] Artificial intelligence is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a co...

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Abstract

The invention relates to a joint motor control method for a robot, a device, equipment and a storage medium, and relates to the technical field of robots. The method comprises the steps of obtaining temperature feature parameters of a joint motor of the robot, wherein the temperature feature parameters comprise at least one of environmental temperature and motor housing temperature; obtaining a heat loss power threshold of the joint motor based on the temperature feature parameter, wherein the heat loss power threshold is used for indicating the maximum heat loss power which is allowed by thejoint motor currently; obtaining control parameters of the joint motor with the heat loss power threshold as the constraint; and controlling the joint motor through the control parameters. In the process of controlling the joint motor, the torque of the joint motor is adjusted through the temperature-dependent constraints, and the performance of the joint motor is fully utilized under the condition that the joint motor is not affected by excessive temperature.

Description

technical field [0001] The present application relates to the technical field of robots, and in particular to a method, device, equipment and storage medium for controlling joint motors of a robot. Background technique [0002] With the continuous development of robot technology, users have higher and higher requirements for the motion performance of multi-joint robots, which requires the joint motors of multi-joint robots to operate efficiently. [0003] In the related art, in order to ensure the operation of the joint motor, a fixed torque upper limit of the joint motor is set to prevent the joint motor from exceeding the physical limit during operation, thereby damaging the joint motor. For example, if the maximum joint rotation angle of the joint motor is determined in a certain fixed direction, then when the joint motor runs in this direction, the joint rotation angle of the joint motor can be controlled to be smaller than the maximum joint rotation angle. [0004] How...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1602B25J9/1664B25J9/1661B25J9/1679B25J17/02
Inventor 王帅翁创鸿郑宇
Owner TENCENT TECH (SHENZHEN) CO LTD
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