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Method and device for controlling robot, robot and storage medium

A control method, robot technology, applied in the field of robotics

Active Publication Date: 2021-12-21
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot control method, device, robot and storage medium to solve the problem of how to safely and accurately realize the compliant control of the robot in the prior art

Method used

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  • Method and device for controlling robot, robot and storage medium
  • Method and device for controlling robot, robot and storage medium
  • Method and device for controlling robot, robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] figure 1 It shows a schematic flowchart of the first robot control method provided by the embodiment of the present application. The execution subject of the robot control method is a robot, and the details are as follows:

[0039] In S101, trajectory planning parameters, end force data and joint force data of the robot limb joints are acquired.

[0040] In the embodiment of the present application, the trajectory planning parameters are parameters for planning the motion trajectory of the joints of the limbs of the robot, which can be used to describe the expected reference position during the movement of the robot. The trajectory planning parameters may be input by the user, or may be generated by the robot's own path planning algorithm.

[0041] The force data at the end is the data representing the magnitude of the force on the end of the limb of the robot, and the force data at the end can be collected by a force sensor installed at the end of the limb of the robo...

Embodiment 2

[0127] Figure 4 It shows a schematic structural diagram of a robot control device provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown:

[0128] The robot control device includes: an acquisition unit 41, a first admittance control operation unit 42, a first joint parameter value determination unit 43, a second admittance control operation unit 44, a second joint parameter value determination unit 45, a target joint command position Determination unit 46 and motion control unit 47 . in:

[0129] An acquisition unit 41, configured to acquire trajectory planning parameters, terminal force data and joint force data of robot limb joints;

[0130] The first admittance control calculation unit 42 is used to perform Cartesian space admittance control calculation on the end force data to obtain the end admittance compensation amount of the robot in Cartesian space;

...

Embodiment 3

[0144] Figure 5 It is a schematic diagram of a robot provided by an embodiment of this application. Such as Figure 5 As shown, the robot 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and operable on the processor 50, such as a robot control program. When the processor 50 executes the computer program 52, the steps in the above-mentioned embodiments of the robot control method are realized, for example figure 1 Steps S101 to S107 are shown. Alternatively, when the processor 50 executes the computer program 52, it realizes the functions of the modules / units in the above-mentioned device embodiments, for example Figure 4 The functions of the acquisition unit 41 to the motion control unit 47 are obtained.

[0145] Exemplarily, the computer program 52 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 51 and executed by the processor 50 to complete this app...

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Abstract

The invention is suitable for the technical field of robots, and provides a method and device for controlling a robot, the robot and a storage medium. The method comprises the steps of: obtaining trajectory planning parameters, tail end stress data and joint stress data of robot limb joints; carrying out cartesian space admittance control operation on the tail end stress data to obtain tail end admittance compensation amount; determining a first joint parameter value and a first slack variable corresponding to the tail end admittance compensation amount in a joint space according to the tail end admittance compensation amount and the trajectory planning parameters; carrying out joint space admittance control operation on the joint stress data to obtain joint admittance compensation amount; determining a second joint parameter value according to the first joint parameter value, the first slack variable, the joint admittance compensation amount and the trajectory planning parameters; determining a target joint instruction position according to the second joint parameter value; and controlling the robot to move according to the target joint instruction position. According to the method and the device, compliant control of the robot can be safely and effectively achieved.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot control method, device, robot and storage medium. Background technique [0002] With the development of robot technology, robots are widely used in various application scenarios such as industrial manufacturing, medical care, and business services. In various application scenarios, there are situations where robots need to be in close contact with other objects or people, such as robots cleaning tables, shoes, or shaking hands with people. In these cases, if the ordinary position control method of repelling external force is used, due to the high position accuracy requirements and the high rigidity of the robot, once the position deviates, excessive contact force will be generated between the robot and the work object, causing damage to the robot. Damage to the work object and the robot itself. [0003] In order to avoid damage to the work object or...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02B25J17/02
CPCB25J9/1602B25J9/1679B25J9/1664B25J9/023B25J17/02
Inventor 曾献文刘益彰罗璇熊友军
Owner UBTECH ROBOTICS CORP LTD
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