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

Abstract

The present application provides a robot control method, device, device and computer-readable storage medium, which can provide torque data at joints for collision detection processing of a robot without using a torque sensor, and can avoid the configuration of torque sensors. Hardware cost and structural modification cost. A method for controlling a robot provided by the present application includes: when a controlled robot is in a working state, collecting state data of the robot; inputting the state data into a pre-trained dynamic model for the robot, and obtaining the front and rear of the joint motor of the robot. Feedback torque; extract the feedback torque output by the feedback controller set in the feedback loop of the joint motor; on the basis of the feedback torque as the compensation control source, generate the control torque according to the feedforward torque, and use the control torque to control the work of the joint motor.

Description

technical field [0001] The present application relates to the field of robot control, and in particular, to a control method, apparatus, device, and computer-readable storage medium of a robot. Background technique [0002] Today, robots play an important role in automated industrial production. Through the large-scale application of robots, the production efficiency is greatly improved under the condition of stable product quality. [0003] With the gradual update of robot technology, the volume of many types of robots also shows a trend of gradual simplification, especially some robots that focus on the performance of human-robot collaboration. While the volume is gradually simplified, the distance between the user and the robot is also There is a trend of gradually shortening. Therefore, the collision detection of the robot is particularly important in the working process. Good collision detection technology can make the robot respond better according to the collision det...

AI Technical Summary

Problems solved by technology

[0004] In the research process of the existing related technologies, the inventors found that in some robot collision detection technologies, torque perception is an important part of the robot collision detection process, and the robot needs to install a single-dimensional torque sensor at the corresponding joint to Measure the joint torque, and then realize the collision detection according to the joint torque monitoring. In this context, the robot needs to adapt the torque sensor to the structure of the joint. If the robot does not install the torque sensor at the joint, the joint structure needs to be changed. , it may even be necessary to modify the overall structure of the robot, and for the structural modification of this type of robot to adapt the torque sensor, obviously, the cost is undoubtedly huge, which affects the application of robot collision detection technology

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