Robot control method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot control method and device, a computer readable storage medium and a robot. The robot control method method comprises the following steps that a steady state between an end effector of the robot and the surface of an operation environment is established through a preset impedance control mechanism, and a contact force between the end effector and the surface of the operation environment is adjusted according to a preset expected force; a contact torque generated by the contact force is obtained; the end effector is controlled to rotate according to the contact torque until the posture of the end effector is consistent with the posture of the surface of the working environment; and the end effector is controlled to move in the tangential direction of the surface of the operation environment. By means of the robot control method and device, the computer readable storage medium and the robot, even in the the face of an unknown working environment, the contact force can be effectively adjusted, the working track plan adapting to the environment posture can be made, and the error of the contact force is effectively reduced.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot control method, a device, a computer-readable storage medium and a robot. Background technique [0002] Robots have been used more and more widely in the industrial and service industries, and the tasks they face no longer require only position control. When facing many workplaces such as robot grinding, assembly operations, human massage, and rehabilitation , requires dual control of robot position and force. The above-mentioned operations often have the problem of unknown working environment: on the one hand, the position information of the surface of the working object relative to the robot is unknown, and the mechanical properties of the working object are unknown, resulting in the inability to achieve effective adjustment of the contact force. On the other hand, the unknown environment posture is often faced in the operation trajectory planning....

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot control method, device, computer-readable storage medium and robot, so as to solve the problem that the existing robot control method cannot realize the control of the contact force when the working environment is unknown. Effective adjustment, the problem of large contact force error

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