Flexible driving method, flexible parallel robot control method and flexible driving device

Abstract

The application relates to a flexible driving method, a flexible parallel robot control method and a flexible driving device. The flexible driving method comprises the following steps: obtaining a target output position and a target output speed of a flexible driving joint, and a current output position and a current output speed; determining a target resisting torque generated by the flexible driving joint according to a deviation between the target output position and the current output position, and a deviation between the target output speed and the current output speed; determining a target driving speed of the flexible driving joint according to a deviation between a current torque of the flexible driving joint and the target resisting torque; determining a speed control amount of the flexible driving joint according to a deviation between a current driving speed of the flexible driving joint and the target driving speed, and controlling a driving component of the flexible driving joint based on the speed control amount. The method can better absorb impact energy and flexibly control the motion after the impact, and can realize flexible force control and motion adaptive control.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a flexible drive method, a flexible parallel robot control method, a flexible drive device, a flexible parallel robot, and a computer-readable storage medium. Background Technology

[0002] With the continuous improvement of robotics technology, it has provided a new approach to solving industry pain points. Currently, various physical therapy robots have emerged on the market, such as robots that provide soft tissue therapy, robots that provide thermotherapy, and robots that provide moxibustion. The core of the different treatments provided by these different physical therapy robots all comes from the function of the physical therapy actuators at the front end.

[0003] In existing technologies, these robots generally provide force control to control the force when the robot comes into contact with the human body, or they can achieve basic human hand movements through the design of special transmission mechanisms. Although these designs can meet some basic needs, their robot drive methods are simple and usually adopt rigid drives, which means that force control and motion control can only be designed separately. The drive design is complex and redundant, and it cannot truly simulate the coordinated control of force and motion during human hand massage. The stiffness of the robot's movements seriously affects the user experience. Summary of the Invention

[0004] Therefore, it is necessary to provide a flexible driving method, a flexible parallel robot control method, a flexible driving device, a flexible parallel robot, and a computer-readable storage medium to address the above-mentioned technical problems.

[0005] Firstly, this application provides a flexible driving method, the method comprising:

[0006] Obtain the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity;

[0007] The target resistance torque generated by the flexible drive joint is determined based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed.

[0008] The target driving speed of the flexible drive joint is determined based on the deviation between the current torque and the target resistance torque of the flexible drive joint, wherein the current torque is obtained based on the deformation of the flexible drive joint.

[0009] Based on the deviation between the current driving speed and the target driving speed of the flexible drive joint, the speed control amount of the flexible drive joint is determined, and the drive components of the flexible drive joint are controlled based on the speed control amount.

[0010] In one embodiment, obtaining the current torque based on the deformation of the flexible driven joint includes:

[0011] The current torque τ is obtained based on the input and output angles of the flexible drive joint.

[0012] τ=K s (θ m -θ out )

[0013] Among them, K s For the stiffness of the flexible drive joint, θ m For input angle, θ out This is the output angle.

[0014] In one embodiment, determining the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output velocity and the current output velocity, includes:

[0015] Based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed, the target resistance torque τ generated by the flexible drive joint is determined by the impedance controller. d :

[0016]

[0017] Where, θ out，d Output the target position. For the target output speed, θ out This is the current output position. K represents the current output speed. v C v These are the impedance parameters of the impedance controller.

[0018] In one embodiment, the method further includes:

[0019] By adjusting the impedance parameters of the flexible drive joint, the force output by the flexible drive joint can be controlled.

[0020] Secondly, this application also provides a flexible parallel robot control method. The flexible parallel robot includes at least multiple flexible drive joints, a parallel mechanism, and a moving platform. The parallel mechanism includes multiple kinematic branches, and each flexible drive joint is connected to the moving platform via a corresponding kinematic branch. Controlling the flexible parallel robot using a flexible drive control model based on the flexible drive method described in any of the above embodiments includes:

[0021] Based on the target motion trajectory and target motion speed of the moving platform in the input command, obtain the target output position and target output speed of each flexible drive joint, and based on the current motion trajectory and current motion speed of the moving platform, obtain the current output position and current output speed of each flexible drive joint.

[0022] Based on the target output position, target output speed, current output position, and current output speed, the drive components of each flexible drive joint are controlled by the flexible drive control model to drive multiple kinematic chains to control the moving platform.

[0023] In one embodiment, it further includes:

[0024] By adjusting the impedance parameters of each flexible drive joint in the flexible drive control model, the force exerted by the dynamic platform in contact with the outside world can be controlled.

[0025] In one embodiment, the target motion trajectory includes at least one or more of the following: acupressure motion trajectory, finger kneading motion trajectory, and tendon pulling motion trajectory;

[0026] The trajectory of the finger kneading motion is a fixed circular motion, planar spiral motion, or spatial spiral motion with a point of application as the center.

[0027] The trajectory of acupressure is a straight line or a curve along the direction perpendicular to the surface of action;

[0028] The trajectory of tendon removal movement is a straight line or curve along the surface of an action surface.

[0029] Thirdly, this application also provides a flexible drive device, comprising:

[0030] The acquisition module is used to acquire the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity.

[0031] An impedance controller is used to determine the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed.

[0032] A torque controller is used to determine the target driving speed of the flexible drive joint based on the deviation between the current torque and the target resistance torque of the flexible drive joint, wherein the current torque is obtained based on the deformation of the flexible drive joint;

[0033] A speed controller is used to determine the speed control amount of the flexible drive joint based on the deviation between the current drive speed and the target drive speed, and to control the drive components of the flexible drive joint based on the speed control amount.

[0034] Fourthly, this application also provides a flexible parallel robot, including a memory and a processor. The memory stores a computer program. The flexible parallel robot also includes at least a plurality of flexible drive joints, a parallel mechanism, and a moving platform. The parallel mechanism includes a plurality of motion branches. Each flexible drive joint is connected to the moving platform via a corresponding motion branch. When the processor executes the computer program, it implements the steps of the flexible drive method in any of the above embodiments.

[0035] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the flexible driving method in any of the above embodiments.

[0036] The aforementioned flexible actuation method, flexible parallel robot control method, flexible actuation device, flexible parallel robot, and computer-readable storage medium, based on position and velocity, perform closed-loop flexible actuation, enabling precise control of output position and velocity. Specifically, a target resistance torque is determined by combining position and velocity deviations. This target resistance torque, combined with the torque generated by the deformation of the flexible joint, determines the target driving speed for controlling the output torque of the flexible actuation joint. Furthermore, the speed control quantity for controlling the output speed of the flexible actuation joint is determined by combining the target driving speed with the current driving speed. This speed control quantity can simultaneously control the output speed, output torque, and output position of the flexible actuation joint, achieving mechanical control. The combination with kinematic control simplifies the drive design, ensures drive precision while improving drive execution efficiency. In addition, the flexible drive joint absorbs impact energy and converts it into deformation, which is then further converted into torque. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on this torque. It can smoothly control the movement after impact, achieving flexible drive in both mechanics and kinematics, improving control stability, and resulting in better motion smoothness and error tolerance in the output. When applied to massage and physiotherapy applications, it can more realistically simulate human hand massage techniques, protecting user safety while greatly improving the user experience. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is an overall flowchart of the flexible driving method in one embodiment;

[0039] Figure 2This is a control framework diagram of a flexible drive method in one embodiment;

[0040] Figure 3 This is an overall structural diagram of the flexible drive joint in one embodiment;

[0041] Figure 4 This is a three-dimensional schematic diagram of a flexible actuator in a flexible drive joint in one embodiment;

[0042] Figure 5 An exploded view of the flexible linkage in a flexible drive joint in one embodiment;

[0043] Figure 6 This is an overall flowchart of a flexible parallel robot control method in one embodiment;

[0044] Figure 7 This is a control framework diagram of a flexible parallel robot control method in one embodiment;

[0045] Figure 8 This is a schematic diagram of the finger-kneading motion trajectory of a flexible parallel robot control method in one embodiment;

[0046] Figure 9 This is a schematic diagram of the finger pressure motion trajectory in a flexible parallel robot control method in one embodiment;

[0047] Figure 10 This is a schematic diagram of the tendon-pulling motion trajectory of a flexible parallel robot control method in one embodiment;

[0048] Figure 11 This is a three-dimensional schematic diagram of a flexible parallel robot in one embodiment;

[0049] Figure 12 This is a structural block diagram of a flexible drive device in one embodiment.

[0050] Figure label:

[0051] 10. Flexible drive joint; 11. Drive component; 12. Flexible linkage; 121. Input connector; 122. Output connector; 123. Elastic component; 1230. Rotary torsion spring; 1231. First torsion spring; 1232. Second torsion spring; 1233. Intermediate connector; 12331. First torsion spring cavity; 12332. Second torsion spring cavity; 1234. First sliding joint; 1235. Second sliding joint; 13. Transmission device; 131. Input shaft assembly; 132. Output shaft assembly; 133. Belt drive assembly; 124. Sensor assembly; 20. Motion chain; 21. Input link; 22. Output link; 23. First hinge assembly; 24. Second hinge assembly; 30. Static platform; 40. Moving platform;

[0052] 1. Acquisition module; 2. Impedance controller; 3. Torque controller; 4. Speed ​​controller. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0055] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0056] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0057] The flexible driving method provided in this application embodiment can be applied to, for example... Figure 3 and Figure 11 The flexible drive joint 10 shown is described. In one embodiment of this flexible drive joint 10, a drive component 11 and a flexible linkage 12 are included. The flexible linkage 12 is used to link the drive component 11 with a motion chain 20 to drive the motion chain 20 to perform the required action, thereby achieving flexible force control to balance force control and motion control of the motion chain. The drive component 11 can be a servo motor or stepper motor, etc., driven by a drive controller. Figure 4 as well as Figure 5As shown, the flexible linkage 12 may include an input connector 121 connected to the driving component, an output connector 122 connected to the motion branch 20, and an elastic component 123 disposed between the input connector 121 and the output connector 122. When the driving component 11 is activated to drive the input connector 121, the elastic component 123 undergoes elastic deformation under the drive of the input connector 121 to drive the output connector 122, thereby flexibly linking the driving component 11 with the motion branch 20, so that the motion branch 20 can be driven by the flexible drive joint 10 to perform the required action.

[0058] Optionally, see Figure 3 and Figure 11 The aforementioned flexible drive joint may further include a transmission device 13 and a sensor assembly 124. The transmission device 13 may include an input shaft assembly 131, an output shaft assembly 132, and a belt drive assembly 133. The input shaft assembly 131 is connected to the output connector 122 of the flexible linkage 12. The output shaft assembly 132 is used to connect the motion branch 20. The belt drive assembly 133 is tractively connected to the input shaft assembly 131 and the output shaft assembly 132 so as to realize the transformation of motion direction, transmission speed, and torque magnitude through a relatively compact structure. The sensor assembly 124 includes sensors, such as photoelectric sensors, electromagnetic sensors, potentiometers, etc., respectively built into the drive component 11 and the transmission device 13. The sensors built into the drive component 11 can also obtain relevant angular velocity and angle information through pulse coding to obtain the input angle and output angle of the flexible linkage 12, so as to calculate the torque generated by the flexible linkage 12. It is understood that in other examples of this application, the belt drive assembly 133 in the transmission device 13 can also be replaced by a chain drive assembly, a gear drive assembly, or a linkage drive assembly, as long as the change in the direction of motion, transmission speed, and torque can be achieved. This application will not elaborate further on this.

[0059] It should be noted that the above-mentioned flexible drive joint is an application scenario of the flexible drive method provided in the embodiments of this application. This embodiment is not limited to this. Obviously, without departing from the above structural concept, several modifications and improvements can be made, and the flexible drive method provided in the embodiments of this application is also applicable.

[0060] In one embodiment, such as Figure 1 and Figure 2 As shown, a flexible actuation method is provided for flexible joint actuation, comprising the following steps:

[0061] S100: Obtain the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity;

[0062] Specifically, in this embodiment, the target output position and target output velocity of the flexible drive joint are obtained according to the input command, and the current output position and current output velocity are obtained according to the sensors on the flexible drive joint. Further, the target output position and current output position can be the angle values ​​of the output end of the flexible drive joint, and the target output velocity and current output velocity can be the angular velocities of the output end of the flexible drive joint. The angular velocities and angle values ​​can be measured by setting, for example, photoelectric sensors, electromagnetic sensors, potentiometers, etc., at the output end of the flexible drive joint to obtain the current output position and current output velocity.

[0063] S200: Determine the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed;

[0064] Specifically, in this embodiment, an impedance controller determines the target resistance torque generated by the flexible drive joint based on the deviation between the current output position and the target output position, and the deviation between the target output speed and the current output speed. The impedance controller is a proportional-derivative (PD) mode controller. By adjusting the magnitude of the target resistance torque generated by the flexible drive joint, the target resistance torque reflects the desired output torque of the flexible drive joint. That is, the target resistance torque output by the impedance controller can control the external torque output by the flexible drive joint, thereby controlling the interaction force between the kinematic chain and the external environment. Furthermore, the impedance controller dynamically outputs the corresponding target resistance torque based on changes in the current output position and current output speed, making the external torque output by the flexible drive joint change flexibly, thus achieving flexible force control. It should be noted that the PD controller is a preferred implementation of the impedance controller in this embodiment. In addition, PID controllers or other linear elastic controllers can also be used.

[0065] S300: Determine the target driving speed of the flexible drive joint based on the deviation between the current torque and the target resistance torque, wherein the current torque is obtained based on the deformation of the flexible drive joint;

[0066] Specifically, in this embodiment, a torque controller determines the target driving speed of the flexible drive joint based on the deviation between the current torque and the target resistance torque. The torque controller is a proportional-integral (PI) controller. The target driving speed, corresponding to the adjusted torque output by the torque controller, is the desired speed of the drive component in the flexible drive joint. In other words, the speed of the drive component in the flexible drive joint can be controlled based on the target driving speed output by the torque controller, thereby controlling the position and speed of the flexible drive joint's shutdown output. It should be noted that the PI controller is a preferred implementation of the impedance controller in this embodiment. Alternatively, PID controllers or other linear elastic controllers can also be used.

[0067] S400: Based on the deviation between the current driving speed and the target driving speed of the flexible drive joint, determine the speed control amount of the flexible drive joint, and control the drive component of the flexible drive joint based on the speed control amount.

[0068] Specifically, in this embodiment, the speed controller determines the speed control quantity of the flexible drive joint based on the deviation between the current drive speed and the target drive speed. The speed controller is a proportional-integral (PI) controller that adjusts the drive speed of the drive component by outputting the speed control quantity. The speed control quantity is a control parameter of the drive component. Based on the speed control quantity output, the drive component of the flexible joint can be controlled, thereby enabling the flexible drive joint to output position and speed. It should be noted that the PI controller is a preferred implementation of the impedance controller in this embodiment. Alternatively, PID controllers or other linear elastic controllers can also be used.

[0069] The above steps S100 to S400 form a closed-loop control of the entire flexible drive joint. By cyclically executing the above steps S100 to S400, the position and speed output by the flexible drive joint can be precisely controlled. Furthermore, the entire flexible joint controls the deformation of the external motion chain by controlling the position output to achieve control of the output force, and at the same time, combines the output speed to achieve flexible kinematic and mechanical control of the external motion chain.

[0070] The flexible drive method in this embodiment uses closed-loop flexible drive based on position and velocity to precisely control the output position and velocity. Specifically, a target resistance torque is determined by combining position and velocity deviations. This target resistance torque, combined with the torque generated by the deformation of the flexible joint, determines the target drive speed for controlling the output torque of the flexible drive joint. Furthermore, the speed control quantity for controlling the output speed of the flexible drive joint is determined by combining the target drive speed with the current drive speed. This speed control quantity can simultaneously control the output speed, output torque, and output position of the flexible drive joint, achieving a combination of mechanical and kinematic control. This simplifies drive design, ensures drive accuracy, and improves drive execution efficiency. In addition, when the flexible drive joint absorbs impact energy, it converts it into deformation, which is further converted into torque. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on this torque, enabling smooth control of post-impact motion. This achieves flexible drive in both mechanics and kinematics, improving control stability and resulting in better motion smoothness and error tolerance. When applied to massage and physiotherapy scenarios, it can more realistically simulate human hand massage techniques, protecting user safety while significantly improving the user experience.

[0071] In one embodiment, obtaining the current torque based on the deformation of the flexible driven joint includes: obtaining the current torque τ based on the input angle and output angle of the flexible driven joint.

[0072] τ=K s (θ m -θ out )

[0073] Among them, K s For the stiffness of the flexible drive joint, θ m For input angle, θ out This is the output angle.

[0074] Specifically, in this embodiment, the flexible linkage in the flexible drive joint uses elastic components such as rotary torsion springs and planar springs that can generate planar torque. Its deformation can be obtained through the input and output angles of the flexible drive joint, and the torque generated by the deformation of the flexible drive joint can be obtained by combining the stiffness of the entire flexible drive joint.

[0075] For example, such as Figure 4 and Figure 5As shown, the elastic component 123 employs a rotary torsion spring 1230, which may include a first torsion spring 1231, a second torsion spring 1232, and an intermediate connector 1233 connected in series with the first torsion spring 1231 and the second torsion spring 1232. The two ends of the first torsion spring 1231 are fixedly connected to the input connector 121 and the intermediate connector 1233, respectively; the two ends of the second torsion spring 1232 are fixedly connected to the output connector 122 and the intermediate connector 1233, respectively. Thus, when the input connector 121 is driven to rotate by the driving component, the first torsion spring 1231 is twisted to undergo elastic deformation, and through the intermediate connector 1233, the second torsion spring 1232 is driven to twist to undergo elastic deformation, thereby driving the output connector 122 to rotate. The elastic deformation of the elastic component 123 is obtained according to the rotation angle difference between the input connector 121 and the output connector 122, so as to accurately calculate the torque generated by the elastic component 123.

[0076] Optionally, such as Figure 4 and Figure 5 As shown, the intermediate connector 1233 has a first torsion spring cavity 12331 facing the input connector 121 and a second torsion spring cavity 12332 facing the output connector 122, so that the first torsion spring 1231 is encapsulated in the first torsion spring cavity 12331 through the input connector 121, and the second torsion spring 1232 is encapsulated in the second torsion spring cavity 12332 through the output connector 122, so as to prevent the external environment from interfering with the deformation of the first torsion spring 1231 and the second torsion spring 1232.

[0077] Optionally, such as Figure 4 and Figure 5 As shown, the elastic component 123 may further include a first sliding member 1234 and a second sliding member 1235; the first sliding member 1234 is disposed between the intermediate connector 1233 and the input connector 121, for slidably connecting the intermediate connector 1233 to the input connector 121; the second sliding member 1235 is disposed between the intermediate connector 1233 and the output connector 122, for slidably connecting the output connector 122 to the intermediate connector 1233, thereby reducing the sliding friction between the intermediate connector 1233 and the input connector 121 and the output connector 122 respectively, and improving the accuracy of torque calculation generated by the elastic component 123.

[0078] For the elastic component in the above example, let k1 represent the stiffness coefficient of the first torsion spring and k2 represent the stiffness coefficient of the second torsion spring, then the stiffness coefficient K of the elastic component is... s Through 1 / K s=1 / k1 + 1 / k2. If the rotation angle of the input connector (i.e., the input angle) is θ. m The rotation angle (i.e., output angle) of the output connector is θ. out Then the torque τ generated by the elastic component is:

[0079] τ=K s (θ m -θ out )

[0080] It is understood that the stiffness coefficients k1 and k2 mentioned in this embodiment can be obtained through product parameters or experimental methods; the input angle θ mentioned in this embodiment... m The output angle θ mentioned in this embodiment can be obtained, but is not limited to, through the angle sensor built into the rotary motor; out The angle sensor built into the motion branch can be used, but is not limited to, to obtain the torque τ. The torque τ calculated in this embodiment will be a reference value for the magnitude of the contact force between the motion branch and the outside world, so as to control the force of physical therapy.

[0081] In one embodiment, determining the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output velocity and the current output velocity, includes:

[0082] Based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed, the target resistance torque τ generated by the flexible drive joint is determined by the impedance controller. d :

[0083]

[0084] Where, θ out，d Output the target position. For the target output speed, θ out This is the current output position. K represents the current output speed. v C v These are the impedance parameters of the impedance controller.

[0085] Specifically, the impedance controller in this embodiment determines the target resistance torque generated by the flexible drive joint using the above formula model. Mechanical analysis shows that the magnitude of the target resistance torque generated by the flexible drive joint is related to the positional and velocity deviations at both ends. The specific relationship is detailed in the above formula, where K... v Specifically, C is the stiffness coefficient corresponding to the position deviation in the impedance controller. vThe damping coefficient corresponding to the velocity deviation in the impedance controller can be adjusted according to the actual application scenario to change the relationship between the position deviation, velocity deviation and target resistance torque, thereby adjusting the drive of the flexible drive joint.

[0086] In one embodiment, the force output by the flexible drive joint is controlled by adjusting the impedance parameters of the flexible drive joint.

[0087] Specifically, this embodiment adjusts the impedance parameters of the flexible drive joint to regulate the target resistance torque generated by the flexible drive joint, thereby controlling the torque output by the flexible drive joint and thus controlling the force output by the flexible drive joint. This can meet the force requirements of different application scenarios and greatly increase the applicability.

[0088] In one embodiment, a flexible parallel robot control method is provided, wherein, see... Figure 3 and Figure 11 The flexible parallel robot includes at least multiple flexible drive joints 10, a parallel mechanism, and a moving platform 40. The parallel mechanism includes multiple motion branches 20. Each flexible drive joint 10 is connected to the moving platform 40 via a corresponding motion branch 20. Optionally, the flexible drive joint 10 is fixed on the static platform 30. The flexible drive joint 10 may include a drive component 11, a flexible linkage 12, and a transmission 13. The motion branch 20 may include an input link 21, an output link 22, a first hinge assembly 23, and a second hinge assembly 24.

[0089] This embodiment controls the aforementioned flexible parallel robot using a flexible drive control model based on any of the above embodiments' flexible drive methods. (See attached image.) Figure 6 and Figure 7 The method includes:

[0090] A100: Based on the target motion trajectory and target motion speed of the moving platform in the input command, obtain the target output position and target output speed of each flexible drive joint, and based on the current motion trajectory and current motion speed of the moving platform, obtain the current output position and current output speed of each flexible drive joint.

[0091] Specifically, in this embodiment, the entire flexible parallel robot is controlled by input commands. The input commands include at least the target motion trajectory and target motion speed of the moving platform. The target motion trajectory is the combined trajectory of multiple flexible drive joints driving the moving platform through corresponding kinematic branches, and the target motion speed is the combined speed of multiple flexible drive joints driving the moving platform through corresponding kinematic branches. Based on the inverse kinematics model of the entire flexible parallel robot, the target motion trajectory can be converted into the target output position corresponding to each flexible drive joint, and the target motion speed can be converted into the target output speed corresponding to each flexible drive joint.

[0092] Specifically, this embodiment obtains the current motion trajectory and current motion speed of the moving platform. The current motion trajectory is the actual motion trajectory of the moving platform, and the current motion speed is the dynamic actual motion speed. In the first embodiment, these can be directly obtained through sensors on the moving platform of the flexible parallel robot, such as photoelectric sensors, electromagnetic sensors, potentiometers, etc., and converted into the current output position and current output speed of each flexible drive joint based on the inverse kinematics of the entire flexible parallel robot. In the second embodiment, the current output speed is directly obtained through sensors at the flexible drive joints. In the third embodiment, when the flexible parallel robot controls the output, it outputs the current motion trajectory and current motion speed through the forward kinematics conversion of its parallel mechanism based on the output of each flexible drive joint to determine the current control status of the moving platform. Based on this, the current motion trajectory and current motion speed can be converted into the current output position and current output speed of each flexible drive joint through the inverse kinematics model of the flexible parallel robot.

[0093] Furthermore, the inverse kinematics model and forward kinematics model of the flexible robot in this embodiment can be obtained by performing kinematic analysis on specific structures in actual application scenarios. Different specific structures correspond to different models, which can be adjusted according to actual needs. This embodiment does not make specific limitations in this regard.

[0094] A200: Based on the target output position, target output speed, current output position, and current output speed, the drive components of each flexible drive joint are controlled through the flexible drive control model to drive multiple kinematic chains to control the moving platform.

[0095] Specifically, in this embodiment, based on the target output position, target output speed, current output position, and current output speed of each flexible drive joint, the drive components of each flexible drive joint are controlled by a single-joint flexible drive control model. The flexible drive control model performs flexible drive of the flexible drive joint based on the steps in the flexible drive method of any of the above embodiments. For detailed explanation, please refer to the description of the method above, which will not be repeated here.

[0096] This embodiment achieves flexible force control and adaptive motion control by flexibly driving each flexible joint and using kinematic chains to drive the platform's kinematics and mechanics. Specifically, closed-loop flexible driving based on motion trajectory and velocity allows for precise control of the motion trajectory and velocity. The robot's motion trajectory and velocity are converted into the position and velocity of each flexible joint through inverse kinematics. The target resistance torque is determined by combining the position and velocity deviations. This target resistance torque, combined with the torque generated by the deformation of the flexible joint, determines the target driving speed for controlling the output torque of the flexible joint. The speed control quantity for controlling the output speed of the flexible joint is then determined by combining the target driving speed with the current driving speed. This speed control quantity can simultaneously control the flexible joint. The output speed, output torque, and output position of the drive joint combine mechanical and kinematic control, simplifying drive design, ensuring drive accuracy, and improving drive execution efficiency. Furthermore, the flexible drive joint absorbs impact energy and transforms it into deformation, which is then further converted into torque. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on this torque, enabling smooth control of post-impact motion. Simultaneously, it achieves flexible drive in both mechanics and kinematics, improving control stability and resulting in better motion smoothness and error tolerance. When applied to massage and physiotherapy scenarios, it can more realistically simulate human hand massage techniques, protecting user safety while significantly improving the user experience.

[0097] In one embodiment, the method further includes: controlling the force between the moving platform and the external environment by adjusting the impedance parameters of each flexible drive joint in the flexible drive control model. Specifically, this embodiment adjusts the target resistance torque generated by each flexible drive joint by adjusting the impedance parameters of each flexible drive joint, thereby controlling the torque output by each flexible drive joint. This torque is then used to drive the moving platform via the kinematic chain, controlling the interaction force between the moving platform and the external environment. This can meet the force requirements of different application scenarios, greatly increasing the applicability. When applied to massage and physiotherapy applications, it can greatly meet the needs of different users and is safer.

[0098] In one embodiment, the target motion trajectory includes at least one or more of the following: finger kneading motion trajectory, acupressure motion trajectory, and tendon-pulling motion trajectory; the finger kneading motion trajectory is a fixed circular motion, planar spiral motion, or spatial spiral motion with a point of application as the center; the acupressure motion trajectory is a straight line or curved motion along the vertical direction of a surface of application; and the tendon-pulling motion trajectory is a straight line or curved motion along the surface of a surface of application.

[0099] Specifically, the target motion trajectory in this embodiment is used to realize various physiotherapy massage techniques, such as finger kneading, acupressure, and tendon pulling techniques. The corresponding target motion trajectories include finger kneading motion trajectory, acupressure motion trajectory, and tendon pulling motion trajectory.

[0100] See Figure 8 In this embodiment, the finger-kneading motion trajectory uses a fixed point as the massage point and performs a fixed circular motion, planar spiral motion, or spatial spiral motion around the massage point. The fixed circular motion can be one or more rotations, and can include one or a combination of clockwise and counterclockwise motions. The planar spiral motion can be from the inside out or from the outside in, and can be one or more rotations, and can include one or a combination of clockwise and counterclockwise motions. The spatial spiral motion is from top to bottom with a shrinking radius, and can be one or more rotations, and can include one or a combination of clockwise and counterclockwise motions. These finger-kneading motion trajectories are combined with changes in the speed and intensity of the finger-kneading motion to achieve the finger-kneading technique.

[0101] See Figure 9 In this embodiment, the acupressure movement trajectory moves in a straight line or curve along the vertical direction of a massage surface. The straight line movement can move up and down along the vertical direction and act on the massage surface, and can involve different pressure distances. The curve movement acts on the massage surface in a specific curve, which is usually suitable for concave massage surfaces, and can involve different pressure depths and different pressure curvature radii. These acupressure movement trajectories are combined with changes in acupressure speed and intensity to achieve the acupressure technique.

[0102] See Figure 10 In this embodiment, the tendon-pulling motion trajectory moves in a straight line or curve along the surface of a massage surface. The straight line motion can act on the surface of the massage surface in a horizontal direction, either left or right or forward and backward, and can involve different movement distances. The curve motion can act on the surface of the massage surface in a specific curve, which is usually suitable for convex massage surfaces, and can involve different movement distances and different pressure curvature radii. These tendon-pulling motion trajectories are combined with changes in the speed and force of the tendon-pulling technique to achieve the desired effect.

[0103] Furthermore, in order to accurately describe the target motion trajectory corresponding to different techniques, a local coordinate system {Ox, y, z} is defined with the tangent plane and normal direction of the contact between the flexible parallel robot and the external environment. Different techniques will be described in this coordinate system. Specifically, for each technique, different motion curves can be set in the {Ox, y, z} coordinate system for description, and the pressure magnitude along the Z-axis direction can be set to describe the interaction force between the flexible parallel robot and the external environment.

[0104] It should be noted that the above target motion trajectory can be modified according to actual needs to suit the needs of different scenarios and users.

[0105] The process of the above embodiments will now be described with reference to a flexible parallel robot in a specific scenario, but it is not limited thereto.

[0106] The flexible parallel robot in this embodiment is applied to a physiotherapy massage scenario to simulate various physical therapy massage techniques, including acupressure, finger kneading, and muscle manipulation. See also... Figure 3 and Figure 11 The flexible parallel robot includes at least multiple flexible drive joints 10, a parallel mechanism, and a moving platform 40. The parallel mechanism includes multiple motion branches 20. Each flexible drive joint 10 is connected to the moving platform 40 via a corresponding motion branch 20. Optionally, the flexible drive joint 10 is fixed on the static platform 30. The flexible drive joint 10 may include a drive component 11, a flexible linkage 12, and a transmission 13. The motion branch 20 may include an input link 21, an output link 22, a first hinge assembly 23, and a second hinge assembly 24.

[0107] See Figure 7 The control process of the aforementioned flexible parallel robot is as follows:

[0108] Input the control commands for the flexible parallel robot, and obtain the target motion trajectory and target running speed Tr of the moving platform according to the control commands. d , Furthermore, the impedance controller parameters in each flexible drive joint are set according to the control commands, and the interaction force between the moving platform and the outside world is set.

[0109] The target trajectory and target speed Tr are obtained by using the inverse kinematics model of a flexible parallel robot. d , This is converted into input commands for each flexible actuated joint, including the target output position and target output velocity θ of the flexible actuated joint. out,d , Based on the target output position and target output velocity θ out,d , The flexible drive control model outputs control signals to the corresponding flexible drive joints, with corresponding output positions and velocities θ. out , The kinematics model of the flexible parallel robot is transformed into the motion trajectory and velocity of the moving platform, thereby realizing the kinematic and mechanical control of the entire flexible parallel robot.

[0110] In the flexible drive control model, the target output position and target output velocity θ of each flexible drive joint are determined. out,d , And the current output position and current output speed θ of the current flexible drive joint. out , The target resistance torque generated by the flexible drive joint is output through the PD impedance controller. Then, based on the target resistance torque τ d The torque τ = K generated by the flexible joint deformation s (θ m -θ out The target driving speed of the flexible drive joint drive component is output through the PI torque controller. Finally, based on the target driving speed and current drive speed The PI speed controller outputs speed control values ​​to the drive components of the flexible drive joint, thereby achieving closed-loop control of the flexible drive joint and outputting position and speed to the outside.

[0111] During the execution of control commands for the aforementioned flexible parallel robot, the control process is adjusted in real time based on the current output through a flexible drive control model until the target value in the control command is reached. This achieves flexible torque control and motion adaptive control. Specifically, closed-loop flexible drive based on motion trajectory and speed not only precisely controls the output of the moving platform but also better absorbs impact energy. After absorbing impact energy, the movement of the moving platform can still be well controlled. This achieves flexible drive in both mechanics and kinematics, resulting in better motion smoothness and error tolerance. Furthermore, combining mechanical and kinematic control simplifies drive design, ensures drive accuracy, and improves drive execution efficiency. In therapeutic massage applications, it more realistically simulates human hand massage techniques, protecting user safety while significantly improving the user experience.

[0112] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0113] Based on the same inventive concept, this application also provides a flexible driving device for implementing the flexible driving method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more flexible driving device embodiments provided below can be found in the limitations of the flexible driving method described above, and will not be repeated here.

[0114] In one embodiment, such as Figure 12 As shown, a flexible drive device is provided, comprising:

[0115] Module 1 is used to acquire the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity.

[0116] Impedance controller 2 is used to determine the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed.

[0117] The torque controller 3 is used to determine the target driving speed of the flexible drive joint based on the deviation between the current torque of the flexible drive joint and the target resistance torque, wherein the current torque is obtained based on the deformation of the flexible drive joint.

[0118] Speed ​​controller 4 is used to determine the speed control amount of the flexible drive joint based on the deviation between the current drive speed and the target drive speed, and to control the drive components of the flexible drive joint based on the speed control amount.

[0119] In one embodiment, obtaining the current torque based on the deformation of the flexible driven joint includes:

[0120] The current torque τ is obtained based on the input and output angles of the flexible drive joint.

[0121] τ=K s (θ m -θ out )

[0122] Among them, K s For the stiffness of the flexible drive joint, θ m For input angle, θ out This is the output angle.

[0123] In one embodiment, determining the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output velocity and the current output velocity, includes:

[0124] Based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed, the target resistance torque τ generated by the flexible drive joint is determined by the impedance controller. d :

[0125]

[0126] Where, θ out，d Output the target position. For the target output speed, θ out This is the current output position. K represents the current output speed. v C v These are the impedance parameters of the impedance controller.

[0127] In one embodiment, the torque controller controls the external force output by the flexible drive joint by adjusting the impedance parameters of the flexible drive joint.

[0128] Each module in the aforementioned flexible drive device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0129] In one embodiment, a flexible parallel robot is provided, including a memory and a processor, the memory storing a computer program, see below. Figure 11 The flexible parallel robot includes at least multiple flexible drive joints 10, a parallel mechanism, and a moving platform 40. The parallel mechanism includes multiple motion branches 20. Each flexible drive joint 10 is connected to the moving platform 40 via a corresponding motion branch 20. When the processor executes the computer program, it implements any one of the flexible drive methods described in the above embodiments. For detailed explanations, please refer to the descriptions corresponding to the methods, which will not be repeated here.

[0130] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements any of the flexible driving methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods, which will not be repeated here.

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0132] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A flexible driving method, characterized in that, The method includes: Obtain the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity; The target resistance torque generated by the flexible drive joint is determined based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed. The target driving speed of the flexible drive joint is determined based on the deviation between the current torque of the flexible drive joint and the target resistance torque, wherein the current torque is obtained based on the deformation of the flexible drive joint. Based on the deviation between the current driving speed of the flexible drive joint and the target driving speed, the speed control amount of the flexible drive joint is determined, and the drive component of the flexible drive joint is controlled based on the speed control amount. A flexible parallel robot includes at least multiple flexible drive joints, a parallel mechanism, and a moving platform. The parallel mechanism includes multiple kinematic chains. Each flexible drive joint is connected to the moving platform via a corresponding kinematic chain. The flexible parallel robot is controlled by a flexible drive control model based on a flexible drive method, including: Based on the target motion trajectory and target motion speed of the moving platform as described in the input command, the target output position and target output speed of each flexible drive joint are obtained. Furthermore, based on the current motion trajectory and current motion speed of the moving platform, the current output position and current output speed of each flexible drive joint are obtained. The target motion trajectory is the combined trajectory of multiple flexible drive joints driving the moving platform via corresponding kinematic chains, and the target motion speed is the combined speed of multiple flexible drive joints driving the moving platform via corresponding kinematic chains. Based on the inverse kinematics model of the flexible parallel robot, the target motion trajectory is converted into the target output position corresponding to each flexible drive joint, and the target motion speed is converted into the target output speed corresponding to each flexible drive joint. Based on the target output position, the target output speed, the current output position, and the current output speed, the driving components of each flexible drive joint are controlled by the flexible drive control model to drive multiple kinematic chains to control the moving platform. The target motion trajectory includes at least one or more of the following: finger kneading motion trajectory, acupressure motion trajectory, and tendon pulling motion trajectory; The trajectory of the finger kneading motion is a fixed circular motion, a planar spiral motion, or a spatial spiral motion with a point of application as the center. The acupressure motion trajectory is a straight line or a curve along the direction perpendicular to the action surface; The trajectory of the tendon-pulling movement is a straight line or curve along the surface of an action surface.

2. The method according to claim 1, characterized in that, The process of obtaining the current torque based on the deformation of the flexible drive joint includes: The current torque τ is obtained based on the input and output angles of the flexible drive joint: Among them, K s Let θ be the stiffness of the flexible drive joint. m Let θ be the input angle. out The output angle is denoted as .

3. The method according to claim 1, characterized in that, The step of determining the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed, includes: Based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed, the target resistance torque τ generated by the flexible drive joint is determined by the impedance controller. d : Where, θ out，d The target output position is... Let θ be the target output velocity. out The current output position is... K represents the current output speed. v C v The impedance parameters of the impedance controller are given.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The force output by the flexible drive joint can be controlled by adjusting its impedance parameters.

5. The method according to claim 1, characterized in that, Also includes: By adjusting the impedance parameters of each flexible drive joint in the flexible drive control model, the force exerted by the dynamic platform in contact with the outside world is controlled.

6. A flexible drive device, characterized in that, include: The acquisition module is used to acquire the target output position and target output velocity of the flexible drive joint, as well as the current output position and current output velocity. An impedance controller is used to determine the target resistance torque generated by the flexible drive joint based on the deviation between the target output position and the current output position, and the deviation between the target output speed and the current output speed. A torque controller is used to determine the target driving speed of the flexible drive joint based on the deviation between the current torque of the flexible drive joint and the target resistance torque, wherein the current torque is obtained based on the deformation of the flexible drive joint; A speed controller is used to determine a speed control amount for the flexible drive joint based on the deviation between the current drive speed and the target drive speed, and to control the drive component of the flexible drive joint based on the speed control amount; A flexible parallel robot includes at least multiple flexible drive joints, a parallel mechanism, and a moving platform. The parallel mechanism includes multiple kinematic chains. Each flexible drive joint is connected to the moving platform via a corresponding kinematic chain. The flexible parallel robot is controlled by a flexible drive control model of a flexible drive method, including: obtaining the target output position and target output velocity of each flexible drive joint based on the target motion trajectory and target motion velocity of the moving platform in the input command; and obtaining the current output position and current output velocity of each flexible drive joint based on the current motion trajectory and current motion velocity of the moving platform; wherein, the target motion trajectory is multiple flexible drive joints... The combined trajectory of the moving platform driven by the corresponding kinematic branches of the flexible drive joints is defined as follows: the target motion speed is the combined speed of the moving platform driven by the corresponding kinematic branches of the multiple flexible drive joints. Based on the inverse kinematics model of the flexible parallel robot, the target motion trajectory is converted into the target output position corresponding to each flexible drive joint, and the target motion speed is converted into the target output speed corresponding to each flexible drive joint. According to the target output position, the target output speed, the current output position, and the current output speed, the drive component of each flexible drive joint is output and controlled by the flexible drive control model to drive the multiple kinematic branches to control the moving platform. The target motion trajectory includes at least one or more of the following: finger kneading motion trajectory, acupressure motion trajectory, and tendon pulling motion trajectory; the finger kneading motion trajectory is a fixed circular motion, planar spiral motion, or spatial spiral motion with a point of application as the center; the acupressure motion trajectory is a straight line or curved motion along the perpendicular direction of a surface of application; the tendon pulling motion trajectory is a straight line or curved motion along the surface of a surface of application.

7. A flexible parallel robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The flexible parallel robot further includes at least a plurality of flexible drive joints, a parallel mechanism, and a moving platform. The parallel mechanism includes a plurality of kinematic branches. Each of the flexible drive joints is connected to the moving platform via a corresponding kinematic branch. When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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