Robot joint motor control method, device, equipment and storage medium

Abstract

The present application relates to a joint motor control method, device, equipment and storage medium of a robot, and relates to the field of robot technology. The method includes: acquiring temperature characteristic parameters of the joint motors of the robot, the temperature characteristic parameters including at least one of ambient temperature and motor casing temperature; based on the temperature characteristic parameters, acquiring the heat loss power threshold of the joint motors; the heat loss The power threshold is used to indicate the maximum heat loss power currently allowed by the joint motor; the control parameter of the joint motor is obtained by constraining the heat loss power threshold; and the joint motor is controlled by the control parameter. In the process of controlling the joint motors, the above solution adjusts the torque of the joint motors through temperature-related constraints, so that the performance of the joint motors can be fully utilized when the joint motors are 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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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

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