Attitude control method and equipment of master-slave robot, medium and product

Abstract

The invention discloses an attitude control method and equipment of a master-slave robot, a medium and a product, and belongs to the technical field of medical equipment. The attitude increment of the master hand is determined by acquiring the attitude information of the master hand at the current moment and the previous moment, and the gradual following of the target attitude of the slave hand is realized by using the disturbance model based on the historical attitude of the master hand, the attitude increment and the current attitude of the slave hand, so that the slave hand smoothly transits and gradually aligns in the motion process of the master hand; and the operation requirement of frequently quitting master-slave or re-aligning due to posture mismatching is obviously reduced, so that the operation efficiency is improved. And by selecting the motion component which enables the master-slave attitude error to be gradually reduced, the system can realize continuous optimization adjustment of the attitude, and the operation accuracy and the control stability are further improved. Compared with the prior art, the progressive following control method provided by the invention can detect and compensate the difference between the master attitude and the slave attitude in real time, and the jumping phenomenon of the instrument is fundamentally inhibited.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to posture control methods, devices, media, and products for master-slave robots. Background Technology

[0002] Master-slave robot systems, as a core technology for remote operation, have been widely used in precision fields such as minimally invasive surgery, industrial inspection and operation. These systems typically consist of a master hand controlled by the operator and a slave hand that performs the task. The core of their control performance lies in achieving high-precision and high-stability posture mapping and tracking between the master and slave hands.

[0003] In existing technologies, various solutions have been proposed to improve the performance of master-slave control. One type of solution adopts the concept of decoupled control, decomposing master-slave control into independent teleoperation channels for position and attitude, and avoiding singular configurations by monitoring the slave hand's motion state. While this method improves the system's adaptability to heterogeneous master hands, its ability to correct attitude mismatches between master and slave hands is limited. Another type of solution focuses on optimizing the slave hand's own motion algorithm by establishing an accurate kinematic model and performing iterative solutions to improve motion convergence speed and terminal accuracy. However, this method fails to fundamentally solve the problem of slave hand spatial jumps caused by initial master-slave attitude deviations or attitude mismatches during operation.

[0004] Furthermore, while some studies have introduced variable-scalar mapping relationships to adaptively adjust the position gain between the master and slave devices to quickly eliminate position tracking errors, their technical focus is concentrated in the position domain, lacking effective attention to the mapping relationships and stability control in the attitude domain. Other improved schemes use master-slave coordinate registration and energy comparison methods to correct slave motion commands, improving the coordination of the control framework to some extent, but there is still room for improvement in terms of system dynamic stability when dealing with sudden attitude changes.

[0005] Therefore, a common and prominent technical challenge faced by existing technologies is that when there is an initial misalignment between the master and slave systems, or when inconsistencies in posture occur during operation due to various reasons, unpredictable and drastic changes can easily occur at the slave end. In scenarios with extremely high requirements for precision and safety, such as robot-assisted minimally invasive surgery, such instrument changes can not only severely disrupt the surgical rhythm and reduce operational efficiency, but may also cause accidental damage to patient tissues, posing significant safety risks.

[0006] In summary, there is an urgent need in this field for a novel attitude control method that can detect and compensate for master-slave attitude differences in real time and effectively, suppress or even eliminate machine jumps from the control mechanism, thereby significantly improving the stability and safety of master-slave operation. Summary of the Invention

[0007] To address the problem that existing master-slave systems suffer from initial alignment deviations or inconsistent postures during operation, which can easily lead to unpredictable and drastic changes at the slave end, this paper provides a master-slave robot posture control method, device, medium, and product designed to detect and compensate for master-slave posture differences in real time and effectively, eliminate mechanical jumps, and thus significantly improve the stability and safety of master-slave operation.

[0008] This application provides a posture control method for a master-slave robot, the master-slave robot including a master hand and a slave hand, the posture control method for the master-slave robot including:

[0009] Obtain the first posture information of the master hand at the current moment, the second posture information of the master hand at the previous moment, and the third posture information of the slave hand at the current moment;

[0010] Determine the master hand posture increment information based on the first posture information and the second posture information;

[0011] Based on the second posture information, the incremental posture information of the master hand, and the third posture information, the target posture information of the slave hand is calculated using a perturbation model.

[0012] Optionally, the step of calculating the target pose information of the slave hand based on the second pose information, the master hand pose increment information, and the third pose information using a perturbation model includes:

[0013] The second attitude information is converted into second attitude spinor information, the third attitude information is converted into third attitude spinor information, and the master hand attitude increment information is converted into master hand attitude increment spinor information.

[0014] The perturbation model is used to calculate the target attitude information of the slave hand based on the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information.

[0015] Optionally, the step of calculating the target attitude information of the slave hand based on the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information using the perturbation model includes:

[0016] Based on the current joint information of the slave hand, calculate the right Jacobian matrix and the right Jacobian inverse matrix of the slave hand at the current moment;

[0017] The perturbation model is used to calculate the target attitude information of the slave hand based on the right Jacobian inverse matrix, the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information.

[0018] Optionally, the step of using the perturbation model to calculate the target attitude information of the slave hand based on the right Jacobian inverse matrix, the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information includes:

[0019] The theoretical spin information from the next moment is calculated based on the right Jacobian inverse matrix and the spin information of the master hand posture increment;

[0020] Based on the master hand's attitude incremental spin information and the third attitude spin information, calculate the slave hand's standard spin information at the current moment;

[0021] The first master-slave screw information is calculated by superimposing the standard screw information and the second attitude screw information.

[0022] Calculate the second master-slave screw information at the current moment based on the third attitude screw information and the second attitude screw information;

[0023] Determine whether the first master-slave spinor information is less than or equal to the second master-slave spinor information;

[0024] If so, the theoretical screw information is used as the target attitude screw information, and the target attitude screw information is converted into target attitude information;

[0025] If not, maintain the current posture of the hand.

[0026] Optionally, the perturbation model is a right perturbation model.

[0027] Optionally, before determining the master hand posture increment information based on the first posture information and the second posture information, the method further includes:

[0028] Based on the second posture information and the third posture information, determine the posture difference information between the master hand and the slave hand;

[0029] Identify whether the posture difference information meets preset conditions;

[0030] If the posture difference information does not meet the preset conditions, determine the master hand posture increment information based on the first posture information and the second posture information;

[0031] If the posture difference information meets the preset conditions, the current posture of the hand is maintained.

[0032] Optionally, identifying whether the pose difference information meets preset conditions includes:

[0033] The attitude difference information is converted into attitude difference spinor information;

[0034] The preset condition is: the attitude difference spinor information is less than the attitude difference threshold;

[0035] Identify whether the attitude difference spinor information is less than the attitude difference threshold.

[0036] This application provides an electronic device comprising: one or more processors; and a memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method described above.

[0037] This application provides a computer-readable medium having computer program instructions stored thereon, which can be executed by a processor to implement the method described above.

[0038] This application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the method described above.

[0039] The beneficial effects of the above technical solution are as follows:

[0040] The master-slave robot posture control method of this application calculates the target posture information of the slave hand through a perturbation model, effectively solving the instrument jump problem caused by the inconsistency between master and slave postures. This method determines the master hand posture increment by acquiring the posture information of the master hand at the current and previous moments, and uses a perturbation model based on the master hand's historical posture, posture increment, and the slave hand's current posture to achieve progressive following of the slave hand's target posture. This allows the slave hand to smoothly transition and gradually align during the master hand's movement, significantly reducing the need for frequent master-slave exits or re-alignment due to posture mismatch, thereby improving surgical efficiency. By selecting motion components that gradually reduce the master-slave posture error, the system can achieve continuous posture optimization and adjustment, further improving operational accuracy and control stability. Compared with existing technologies, the progressive following control method proposed in this invention can detect and compensate for master-slave posture differences in real time, fundamentally suppressing instrument jump phenomena, and significantly improving the robot's operational performance and safety in high-precision application scenarios such as minimally invasive surgery. Attached Figure Description

[0041] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0042] Figure 1 This is a flowchart illustrating an embodiment of the posture control method for the master-slave robot described in this application.

[0043] Figure 2 This is a flowchart illustrating another embodiment of the posture control method for the master-slave robot described in this application.

[0044] Figure 3 This is an exemplary structural diagram of the electronic device of this application. Detailed Implementation

[0045] The advantages of this application are further illustrated below with reference to the accompanying drawings and specific embodiments.

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0047] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0048] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0049] In the description of this application, it should be understood that the numerical labels before the steps do not indicate the order of the steps, but are only used to facilitate the description of this application and to distinguish each step, and therefore should not be construed as a limitation of this application.

[0050] Example 1

[0051] This application addresses the problem in existing master-slave systems where initial alignment deviations or inconsistent postures during operation can easily lead to unpredictable and drastic changes in the slave hand. A posture control method for a master-slave robot is provided, comprising a master hand and a slave hand. (See reference...) Figure 1 This is a flowchart illustrating a preferred embodiment of a master-slave robot attitude control method according to this application. As can be seen from the figure, the attitude control method for a master-slave robot provided in this embodiment mainly includes the following steps:

[0052] S1. Obtain the first posture information of the master hand at the current moment, the second posture information of the master hand at the previous moment, and the third posture information of the slave hand at the current moment;

[0053] Specifically, the spatial pose of the hand is acquired in real time by an attitude sensor installed on the hand, the pose including position and orientation parameters.

[0054] It should be noted that this embodiment uses the transformation matrix (i.e., the Lie group matrix) in the special Euclidean group SE(3) as the mathematical representation of the attitude information, which are: the first attitude information R of the master hand at the current time. M The second posture information R of the master at the previous moment M0 and the third posture information R from the current moment of the hand S .

[0055] In practical applications, the slave hand includes a left slave hand, a right slave hand, and four independent robotic arms (numbered 1 to 4). The system first needs to determine the robotic arm carrying the endoscope and designate it as the reference robotic arm. The reference robotic arm's number directly determines the assignment rules for the left and right slave hands: if robotic arm 2 is set as the reference robotic arm, then robotic arm 1 is defined as the left slave hand, and robotic arms 3 or 4 can dynamically switch to the right slave hand according to control commands. If robotic arm 3 is set as the reference robotic arm, then robotic arms 1 or 2 can be defined as the left slave hand, while robotic arm 4 is fixedly assigned as the right slave hand. Correspondingly, the master hand system includes a left master hand and a right master hand, each forming a one-to-one control relationship with the left and right slave hands, respectively. The master-slave robot posture control method provided in this embodiment executes the following two processes in parallel at any given control moment: adjusting the left slave hand based on the posture information of the left master hand; and adjusting the right slave hand based on the posture information of the right master hand. Specifically, the third posture information of the slave hand at the current moment refers to: the posture information of the end joint of the left slave hand robot arm in three-dimensional space at the current moment; or the posture information of the end joint of the right slave hand robot arm in three-dimensional space at the current moment.

[0056] S2. Determine the master hand posture increment information based on the first posture information and the second posture information;

[0057] Specifically, refer to formula (1) to calculate the first attitude information R of the master hand at the current moment. M The second attitude information R from the previous moment M0 The difference between the two values ​​yields the change in the master hand's posture between two adjacent moments, i.e., the master hand posture increment information R. Step .

[0058] (1),

[0059] S3. Based on the second posture information, the incremental posture information of the master hand, and the third posture information, the target posture information of the slave hand is calculated using a perturbation model.

[0060] It should be noted that the perturbation model described in this embodiment adopts a right perturbation model. The right perturbation model can effectively transmit the pose change of the master hand to the slave hand, driving the slave hand to stably follow the movement of the master hand. The right perturbation model adjusts the estimated value of the current state by the derivative of the pose, and its core mathematical basis is the Baker-Campbell-Hausdorff formula (i.e., the BCH formula).

[0061] Furthermore, step S3 may include the following steps:

[0062] S31. Convert the second attitude information into second attitude screw information, convert the third attitude information into third attitude screw information, and convert the master hand attitude increment information into master hand attitude increment screw information;

[0063] While Lie group matrices can fully represent attitude, their parameters are redundant, and matrix operations make it inconvenient to directly analyze attitude changes. In contrast, Lie algebras, composed of vectors, support intuitive linear addition operations and are more suitable for describing the differentiation and increment of attitude. Therefore, this embodiment converts the attitude information represented by the Lie group matrix into the corresponding Lie algebra spinor form for easier subsequent calculations.

[0064] In this embodiment, the attitude information is converted from Euler angles or quaternions to spinor representation through mathematical transformation, which facilitates subsequent calculations.

[0065] Specifically, refer to formula (2) to calculate the second attitude information R of the master at the previous moment. M0 With the third posture information R from the current moment of the hand S The difference between them yields the pose difference information R. MSDev .

[0066] (2),

[0067] The attitude difference information between the master hand and the slave hand is converted into corresponding attitude difference spinor information w. MSDev The specific process is as follows, using the Rodriguez formula. Perform the calculation:

[0068] ,

[0069] Increase the main hand's posture Converted into corresponding master hand attitude incremental spinor information The specific process is as follows, using the Rodriguez formula. Perform the calculation:

[0070] ,

[0071] The second posture information R of the master at the previous moment M0 Converted into corresponding second attitude spinor information The specific process is as follows, using the Rodriguez formula. Perform the calculation:

[0072] ,

[0073] The current third posture information of the hand Converted into corresponding third attitude spinor information The specific process is as follows, using the Rodriguez formula. Perform the calculation:

[0074] ,

[0075] S32. The perturbation model is used to calculate the target attitude information of the slave hand based on the third attitude spinor information, the second attitude spinor information and the master hand attitude increment spinor information.

[0076] BCH's formula describes the approximate relationship between Lie group multiplication and Lie algebra addition. When rotations or translations are small, matrix multiplication on a Lie group can be approximated as linear addition on a Lie algebra. Based on the linear approximation of BCH's formula, for an element of a Lie group (whose Lie algebra is...), matrix multiplication on a Lie group can be approximated as linear addition on a Lie algebra. Multiply by a tiny perturbation (whose Lie algebra is ) on the right. This can be approximated as a function of Lie algebras. An increment is directly superimposed on top. Among them, J r Let be the right Jacobian matrix of the slave hand's current posture. In master-slave control, the master hand's posture change within a single control cycle can be considered as a minute motion. Based on the right perturbation model, the slave hand's desired posture can be understood as: a tiny change consisting of the master hand's posture increment (also represented by a Lie algebra) superimposed on the slave hand's current posture (Lie algebra representation). In this way, the system can smoothly and accurately map the master hand's motion to the slave hand, achieving progressive following.

[0077] Further, step S32 may include the following steps:

[0078] S321. Based on the current joint information of the slave hand, calculate the right Jacobian matrix and the right Jacobian inverse matrix of the slave hand at the current moment;

[0079] Specifically, a kinematic model of the hand is constructed by using information such as joint angles and linkage parameters, and the corresponding Jacobian matrix and its inverse matrix are calculated.

[0080] Calculate the right Jacobian matrix J by differentiating the hand matrix separately. r and its inverse matrix The specific process is as follows, using the matrix Jacobi formula. calculate:

[0081] ,

[0082] S322. The perturbation model is used to calculate the target attitude information of the slave hand based on the right Jacobian inverse matrix, the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information.

[0083] Specifically, step S322 may include the following steps:

[0084] S3221. Calculate the theoretical spin information from the next moment of the hand based on the right Jacobian inverse matrix and the spin information of the master hand posture increment;

[0085] Specifically, through the right Jacobian inverse matrix Incremental spinor information of master hand posture Mapping to the hand joint space, we obtain the theoretical spinor information for the next moment. .

[0086] According to the perturbation theorem, the change in hand posture can be expressed as:

[0087] ,

[0088] Wherein, ⇔ represents equivalence, that is, the theoretical spinor information from the next moment. The following formula can be used to obtain:

[0089] ,

[0090] In this embodiment, theoretical spinor information These are the minute quantities of attitude change. We analyzed three minute attitude quantities, among which... This indicates a minute attitude in the X direction. Indicates the minute attitude in the Y direction. Let Z represent the attitude in the Z direction, and X, Y, and Z be the Euler angles of the attitude in the hand-based coordinate system. The rotation order is ZYX (i.e., yaw first, then pitch, then roll), and their values ​​are (Z, Y, X). Select the component that reduces the master-slave attitude error.

[0091] S3222. Calculate the standard spin information of the slave hand at the current moment based on the master hand posture incremental spin information and the third posture spin information;

[0092] Specifically, the master hand attitude incremental spinor information With the third posture spinor information of the hand at the current moment By combining these parameters, we can obtain the standard spinor information of the hand at the current moment. As shown in the following formula:

[0093] .

[0094] S3223. Calculate the superimposed first master-slave screw information based on the standard screw information and the second attitude screw information;

[0095] Specifically, the standard spinor information Second attitude spinor information of the master hand at the previous moment By performing superposition calculations, the first master-slave spinor information is obtained. As shown in the following formula:

[0096] .

[0097] S3224. Calculate the second master-slave screw information at the current moment based on the third attitude screw information and the second attitude screw information;

[0098] Specifically, the spinor information of the hand at the current moment will be used. Second attitude spinor information of the master hand at the previous moment By performing combined calculations, the second master-slave spinor information is obtained. As shown in the following formula:

[0099] .

[0100] S3225. Determine whether the first master-slave spin information is less than or equal to the second master-slave spin information; if yes, execute step S3226; if no, maintain the current posture of the slave hand and return to execute step S1.

[0101] If the first master-slave screw information in the X direction is less than the second master-slave screw information, this can be expressed using the formula: Then, this attitude micro-factor makes the master-slave attitude approach close, and the required attitude micro-factor is... Otherwise, the required attitude is minute. Similarly, the attitude insignificance required to calculate the Y-direction... The required attitude in the Z direction .in, The final superposition is to obtain the target attitude spinor information from the hand.

[0102] Changes in posture at the next moment By reversing the Rogges formula calculate ;

[0103] From the posture of the next moment It is calculated using the following formula:

[0104] ,

[0105] S3226. Use the theoretical screw information as the target attitude screw information, and convert the target attitude screw information into target attitude information.

[0106] In this embodiment, step S3225 determines whether the movement of the hand needs to be adjusted, and step S3226 ensures that the movement of the hand is smooth, avoiding shaking caused by excessive adjustment.

[0107] In this embodiment, the master-slave robot posture control method achieves precise following control of the slave hand's posture to the master hand's posture, while considering system stability and motion smoothness. It is applicable to various master-slave robot systems requiring precise posture control. The master-slave robot posture control method employs spinor theory based on Lie algebras for posture representation and processing, combined with a perturbation model to calculate the slave hand's target posture information, effectively solving the instrument jump problem caused by inconsistency between master and slave postures. This method determines the master hand's posture increment by acquiring the posture information of the master hand at the current and previous moments. Based on the master hand's historical posture, posture increment, and the slave hand's current posture, a perturbation model is used to achieve progressive following of the slave hand's target posture. This allows the slave hand to smoothly transition and gradually align during the master hand's movement, significantly reducing the need for frequent master-slave exits or re-alignment due to posture mismatch, thereby improving surgical efficiency. Furthermore, the application of Lie algebras in posture processing makes the expression and analysis of posture changes more concise and intuitive, facilitating real-time system analysis and optimization. By selecting motion components that gradually reduce master-slave posture errors, the system can achieve continuous posture optimization and adjustment, further improving operational accuracy and control stability. Compared with existing technologies, the progressive following control method proposed in this invention can detect and compensate for master-slave posture differences in real time, fundamentally suppressing instrument jump phenomena, and significantly improving the robot's operational performance and safety in high-precision application scenarios such as minimally invasive surgery.

[0108] Example 2

[0109] See Figure 2 As shown, the attitude control method for the master-slave robot in this embodiment may further include the following steps before executing step S2:

[0110] A1. Determine the posture difference information between the master hand and the slave hand based on the second posture information and the third posture information;

[0111] Specifically, refer to formula (2) to calculate the second attitude information R of the master at the previous moment. M0 With the third posture information R from the current moment of the hand S The difference between them yields the pose difference information R. MSDev .

[0112] A2. Identify whether the posture difference information meets the preset conditions. If yes, maintain the current posture of the hand and return to step S1; otherwise, proceed to step S2.

[0113] Further, step A2 includes: converting the attitude difference information into attitude difference screw information, and identifying whether the attitude difference screw information is less than the attitude difference threshold.

[0114] The preset condition is that the attitude difference spinor information is less than the attitude difference threshold.

[0115] In this embodiment, the purpose of identifying whether the posture difference information meets the preset conditions is to avoid frequently adjusting the posture of the slave hand when the posture difference between the master and slave hands is small, thereby improving system stability.

[0116] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0117] Furthermore, some embodiments of this application also provide an electronic device. The electronic device can be various forms of digital computer, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, etc. The electronic device can also be various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices.

[0118] The electronic device includes: one or more processors; and a memory storing computer program instructions that, when executed, cause the processor to perform the steps of the methods provided in any one or more of the above embodiments. Figure 3 An exemplary structural diagram of the electronic device is disclosed. For example... Figure 3As shown, the electronic device includes one or more processors 1101, a memory 1102, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0119] The electronic device may further include an input device 1103 and an output device 1104. The processor 1101, memory 1102, input device 1103, and output device 1104 may be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0120] Input device 1103 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the electronic device, such as a touch screen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 1104 may include a display device, auxiliary lighting device (e.g., LED), and haptic feedback device (e.g., vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0121] To provide interaction with the user, the electronic device can be a computer. The computer has: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] In this embodiment, a computer-readable medium stores a computer program / instructions that, when executed by a processor, implement the steps of the methods provided in any one or more of the above embodiments. This computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into that device. The aforementioned computer-readable medium carries one or more computer-readable instructions.

[0123] The memory 1102 can serve as a non-transitory computer-readable storage medium, used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 1102, thereby implementing the program instructions / modules corresponding to the methods provided in any one or more of the embodiments described above in this application.

[0124] The memory 1102 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 1102 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1102 may optionally include memory remotely located relative to the processor 1101, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0125] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0126] Computer-readable media include permanent and non-permanent, removable and non-removable media, which can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, read-only optical disc (CD-ROM), digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0127] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. For example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, magnetic or optical drives, floppy disks, or similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that works with a processor to perform the various steps or functions.

[0129] The computer program product provided in this application includes one or more computer programs / instructions. When executed by a processor, these computer programs / instructions generate, in whole or in part, the processes or functions described in this application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0130] The flowcharts or block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-specific system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0131] The scope of this application is defined by the appended claims rather than the foregoing description, and is therefore intended to encompass all variations falling within the meaning and scope of equivalents of the claims. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in a device claim may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used only for distinguishing descriptions and do not indicate any particular order, nor should they be construed as indicating or implying relative importance.

[0132] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily made by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims, and the above embodiments should be regarded as exemplary and non-limiting.

Claims

1. A method for attitude control of a master-slave robot, characterized in that, The master-slave robot includes a master hand and a slave hand, and the posture control method of the master-slave robot includes: Obtain the first posture information of the master hand at the current moment, the second posture information of the master hand at the previous moment, and the third posture information of the slave hand at the current moment; Determine the master hand posture increment information based on the first posture information and the second posture information; Based on the second posture information, the incremental posture information of the master hand, and the third posture information, the target posture information of the slave hand is calculated using a perturbation model.

2. The posture control method for a master-slave robot according to claim 1, characterized in that, The step of calculating the target posture information of the slave hand based on the second posture information, the incremental posture information of the master hand, and the third posture information, through a perturbation model, includes: The second attitude information is converted into second attitude spinor information, the third attitude information is converted into third attitude spinor information, and the master hand attitude increment information is converted into master hand attitude increment spinor information. The perturbation model is used to calculate the target attitude information of the slave hand based on the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information.

3. The posture control method for a master-slave robot according to claim 2, characterized in that, The step of calculating the target attitude information of the slave hand using the perturbation model based on the third attitude spinor information, the second attitude spinor information, and the master hand attitude incremental spinor information includes: Based on the current joint information of the slave hand, calculate the right Jacobian matrix and the right Jacobian inverse matrix of the slave hand at the current moment; The perturbation model is used to calculate the target attitude information of the slave hand based on the right Jacobian inverse matrix, the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information.

4. The posture control method for a master-slave robot according to claim 3, characterized in that, The step of calculating the target attitude information of the slave hand using the perturbation model based on the right Jacobian inverse matrix, the third attitude spinor information, the second attitude spinor information, and the master hand attitude increment spinor information includes: The theoretical spin information from the next moment is calculated based on the right Jacobian inverse matrix and the spin information of the master hand posture increment; Based on the master hand's attitude incremental spin information and the third attitude spin information, calculate the slave hand's standard spin information at the current moment; The first master-slave screw information is calculated by superimposing the standard screw information and the second attitude screw information. Calculate the second master-slave screw information at the current moment based on the third attitude screw information and the second attitude screw information; Determine whether the first master-slave spinor information is less than or equal to the second master-slave spinor information; If so, the theoretical screw information is used as the target attitude screw information, and the target attitude screw information is converted into target attitude information; If not, maintain the current posture of the hand.

5. The attitude control method for a master-slave robot according to any one of claims 1-4, characterized in that, The perturbation model adopted is the right perturbation model.

6. The posture control method for a master-slave robot according to claim 1, characterized in that, Before determining the master hand posture increment information based on the first posture information and the second posture information, the method further includes: Based on the second posture information and the third posture information, determine the posture difference information between the master hand and the slave hand; Identify whether the posture difference information meets preset conditions; If the posture difference information does not meet the preset conditions, determine the main hand posture increment information based on the first posture information and the second posture information; If the posture difference information meets the preset conditions, the current posture of the hand is maintained.

7. The posture control method for a master-slave robot according to claim 6, characterized in that, The step of identifying whether the pose difference information meets preset conditions includes: The attitude difference information is converted into attitude difference spinor information; The preset condition is: the attitude difference spinor information is less than the attitude difference threshold; Identify whether the attitude difference spinor information is less than the attitude difference threshold.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as described in any one of claims 1 to 7.

9. A computer-readable medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

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