Flexible parallel robot control method, device and flexible parallel robot

Abstract

This application relates to a control method, apparatus, flexible parallel robot, and storage medium for a flexible parallel robot. The method includes: acquiring the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot; determining the position adjustment amount corresponding to the control force of the robot based on the force deviation or torque deviation between the target force and the current output torque; determining the velocity control amount corresponding to the control position of the robot based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount; and controlling the drive components of each flexible drive joint based on the velocity control amount to drive the robot's flexible motion. This method simplifies control complexity, improves control stability, absorbs impact energy, and achieves flexible actuation in both mechanics and kinematics.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a flexible parallel robot control method, apparatus, flexible parallel robot, and 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 parallel robot control method, device, flexible parallel robot, and storage medium that can flexibly drive the above-mentioned technical problems.

[0005] In a first aspect, this application provides a flexible parallel robot control method, the method comprising:

[0006] Obtain the target force and target trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot;

[0007] Based on the force deviation or torque deviation between the target force and the current output torque, determine the position adjustment amount corresponding to the robot's force.

[0008] Based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, as well as the position adjustment amount, the speed control amount corresponding to the robot's motion position is determined, and the driving components of each flexible drive joint are controlled based on the speed control amount to drive the robot's flexible motion.

[0009] In one embodiment, the current output torque is obtained based on the deformation of the flexible drive joint.

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

[0011] The current output torque τ is obtained based on the input angle, output angle, and transmission coefficient of the flexible drive joint. l :

[0012] τ l =K s Nη(θ m -Nθ l )

[0013] Among them, K s For the stiffness of the flexible driven joint, θ m For input angle, θ l Where N is the output angle, η is the transmission ratio in the transmission coefficient, and η is the transmission efficiency in the transmission coefficient.

[0014] In one embodiment, determining the position adjustment amount corresponding to the robot's control force based on the force deviation or torque deviation between the target force and the current output torque includes:

[0015] The position adjustment amount corresponding to the robot's control force is determined based on the force deviation between the target force and the robot's current force; or, the position adjustment amount corresponding to the robot's control force is determined based on the torque deviation between the target torque and the corresponding current output torque of each flexible drive joint.

[0016] Specifically, the current force is obtained by combining the current output torques, and the target torque of each flexible drive joint is obtained by converting the target force.

[0017] In one embodiment, determining the position adjustment amount corresponding to the robot's control force based on the force deviation or torque deviation between the target force and the current output torque includes:

[0018] Based on the force deviation or torque deviation between the target force and the current output torque, the position adjustment amount corresponding to the force applied to the robot is determined by the force PID controller.

[0019] In one embodiment, determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount, includes:

[0020] Based on the trajectory deviation between the target motion trajectory and the robot's current motion position, as well as the position adjustment amount, determine the speed control amount corresponding to the robot's motion position; or, based on the position deviation between the target output position and the corresponding current output position of each flexible drive joint, as well as the position adjustment amount, determine the speed control amount corresponding to the robot's motion position.

[0021] Specifically, the current motion position is obtained by combining the current output positions, and the target output position of each flexible drive joint is obtained by converting the target motion trajectory.

[0022] In one embodiment, determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount, includes:

[0023] The target motion trajectory of the robot or the target output position of each flexible drive joint is adjusted by adjusting the position adjustment amount. Based on the trajectory deviation between the adjusted target motion trajectory and the current motion position or the position deviation between the adjusted target output position and the corresponding current output position, the speed control amount corresponding to the robot's motion position is determined by the position PID controller.

[0024] 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;

[0025] The trajectory of finger kneading motion is a fixed circular motion, planar spiral motion, or spatial spiral motion with a point of application as the center.

[0026] The trajectory of acupressure is a straight line or a curve along the direction perpendicular to the surface of action;

[0027] The trajectory of tendon removal movement is a straight line or curve along the surface of an action surface.

[0028] Secondly, this application also provides a flexible parallel robot control device, comprising:

[0029] The acquisition module is used to acquire the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot;

[0030] The force controller is used to determine the position adjustment amount corresponding to the control robot's force based on the force deviation or torque deviation between the target force and the current output torque.

[0031] The position controller is used to determine the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, as well as the position adjustment amount, and to control the drive components of each flexible drive joint based on the speed control quantity to drive the robot's flexible movement.

[0032] Thirdly, 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 kinematic branches. Each flexible drive joint is connected to the moving platform via a corresponding kinematic branch. When the processor executes the computer program, it implements the steps of the flexible parallel robot control method in any of the above embodiments.

[0033] Fourthly, 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 parallel robot control method in any of the above embodiments.

[0034] The aforementioned flexible parallel robot control method, device, flexible parallel robot, and storage medium utilize closed-loop flexible drive based on the robot's force and motion trajectory. This allows for precise control of the motion trajectory and force. Specifically, controlling the robot's force through position adjustment (the deformation of the flexible drive joint) simplifies control complexity and improves stability. Furthermore, combining this position adjustment with the motion trajectory determines the velocity control quantity corresponding to the robot's position. This velocity control quantity controls both the robot's position and force, achieving a combination of mechanical and kinematic control. This further simplifies drive design, ensures drive precision, and improves drive execution efficiency. Additionally, when the flexible drive joint absorbs impact energy, it transforms it into deformation, which is then further transformed into position adjustment. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on the position adjustment, 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. Attached Figure Description

[0035] 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.

[0036] Figure 1 This is a three-dimensional schematic diagram of a flexible parallel robot in one embodiment;

[0037] Figure 2 This is an overall structural diagram of the flexible drive joint in one embodiment;

[0038] Figure 3 This is an overall flowchart of a flexible parallel robot control method in one embodiment;

[0039] Figure 4 This is a first control framework diagram of a flexible parallel robot control method in one embodiment;

[0040] Figure 5 This is a second control framework diagram of a flexible parallel robot control method in one embodiment;

[0041] Figure 6 This is a third control framework diagram of a flexible parallel robot control method in one embodiment;

[0042] Figure 7 This is a three-dimensional schematic diagram of a flexible actuator in a flexible drive joint in one embodiment;

[0043] Figure 8 An exploded view of the flexible linkage in a flexible drive joint in one embodiment;

[0044] Figure 9 This is a schematic diagram of the static analysis of a flexible driven joint in one embodiment;

[0045] Figure 10 This is a schematic diagram of the kinematic analysis of a flexible parallel robot in one embodiment;

[0046] Figure 11 This is a schematic diagram of the finger-kneading motion trajectory of a flexible parallel robot control method in one embodiment;

[0047] Figure 12 This is a schematic diagram of the finger pressure motion trajectory in a flexible parallel robot control method in one embodiment;

[0048] Figure 13 This is a schematic diagram of the tendon-pulling motion trajectory of a flexible parallel robot control method in one embodiment;

[0049] Figure 14 This is a structural block diagram of a flexible parallel robot control 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. Force controller; 3. Position 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 parallel robot control method provided in this application can be applied to, for example... Figure 1The flexible parallel robot shown includes at least a plurality of flexible drive joints 10, a parallel mechanism, and a moving platform 40. The parallel mechanism includes a plurality of 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 a static platform 30. 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.

[0058] Specifically, see Figure 1 and Figure 2 In a flexible drive joint 10 applicable to this embodiment, 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 realizing flexible force control so as to take into account both force control and motion control of the motion chain. The drive component 11 can be a drive controller such as a servo motor or a stepper motor. Figure 7 As 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.

[0059] It should be noted that the above-mentioned flexible parallel robot and flexible drive joint are only applicable scenarios of the flexible parallel robot control 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. The flexible parallel robot control method provided in the embodiments of this application is also applicable.

[0060] In one embodiment, such as Figure 3 and Figure 4 As shown, a flexible parallel robot control method is provided, which can be applied to... Figure 1 Taking a flexible parallel robot as an example, the following steps are included:

[0061] S100: Obtain the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot;

[0062] 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 force and target motion trajectory of the robot's moving platform are obtained by input commands. The target motion trajectory is the combined trajectory of multiple flexible drive joints driving the moving platform through corresponding motion chains. The target force is the interaction force between the moving platform and the outside world.

[0063] Specifically, in this embodiment, the current output position of each flexible drive joint is obtained by the sensors on each flexible drive joint, and the current output torque is calculated by the deformation of the flexible drive joint based on the mechanical relationship of the flexible drive joint. The current output position is the angle value of the output end of the flexible drive joint, and the current output torque is the torque of the output end of the flexible drive joint. Optionally, the above angle value can be measured by setting a photoelectric sensor, electromagnetic sensor, potentiometer, etc. at the output end of the flexible drive joint to obtain the current output position.

[0064] S200: Determine the position adjustment amount corresponding to the robot's force based on the force deviation or torque deviation between the target force and the current output torque;

[0065] Specifically, in this embodiment, the target force is the force required for the robot's moving platform to contact the outside world, and the current output torque is the torque currently output by each flexible drive joint. Based on the kinematic relationship of the robot's forces, the mutual conversion between the robot's force and the output torque of each flexible drive joint is realized to obtain the force deviation and torque deviation between them. In this embodiment, the force controller determines the position adjustment amount corresponding to the robot's force based on the force deviation or torque deviation between the target force and the current output torque. The force controller can be a controller based on the proportional-integral-derivative (PID) mode. The force controller controls the magnitude of the moving platform's force based on the position adjustment amount of the moving platform. This position adjustment amount corresponds to the adjustment amount of the entire motion trajectory or the adjustment amount of the output position of each flexible drive joint. Adjusting the output position of each flexible drive joint is actually adjusting the entire motion trajectory. In this way, the force of the moving platform during the entire motion trajectory operation is controlled by correcting the overall motion trajectory.

[0066] S300: Based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, as well as the position adjustment amount, determine the speed control amount corresponding to the robot's motion position, and control the drive components of each flexible drive joint based on the speed control amount to drive the robot's flexible motion.

[0067] Specifically, in this embodiment, the target motion trajectory is the target trajectory of the robot's moving platform, and the current output position is the current output position of each flexible drive joint of the robot. Based on the kinematic relationship of the robot's spatial motion, the mutual conversion between the robot's moving platform trajectory and the output positions of each flexible drive joint is achieved to obtain the trajectory deviation and position deviation. In this embodiment, the position controller determines the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, as well as the position adjustment amount. The position controller can also be a proportional-integral-derivative (PID) controller. The position controller outputs the speed control quantity corresponding to the robot's movement position. The speed control quantity is the control parameter of the drive components of each flexible drive joint. Based on the speed control quantity, the drive components of each flexible drive joint are controlled to control the output position angle of each flexible drive joint, thereby driving the movement of the moving platform through the mechanical transmission of each kinematic chain.

[0068] The steps S100 to S300 described above form a closed-loop control for the entire flexible parallel robot. By cyclically executing these steps, the trajectory and force output by the flexible parallel robot can be precisely controlled. Specifically, controlling the robot's force through position adjustment (the deformation of the flexible drive joints) simplifies control complexity and improves control stability. Furthermore, combining this position adjustment with the motion trajectory determines the velocity control quantity corresponding to the robot's movement position. This velocity control quantity not only controls the robot's movement position but also its force, achieving a combination of mechanical and kinematic control, further simplifying the drive process. The design ensures driving precision while improving driving efficiency. Furthermore, the flexible drive joint absorbs impact energy and transforms it into deformation, which is then converted into position adjustment. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on the position adjustment, 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 therapy scenarios, it can more realistically simulate human hand massage techniques, protecting user safety while significantly improving the user experience.

[0069] In one embodiment, the current output torque is obtained based on the deformation of the flexible drive joint.

[0070] Specifically, in this embodiment, the flexible actuator in the flexible drive joint uses elastic components capable of generating planar torque, such as rotary torsion springs and planar springs. Its deformation can be obtained through the input and output angles of the flexible drive joint. Combined with the stiffness of the entire flexible drive joint, the torque generated by the deformation of the flexible drive joint can be obtained. Specifically, the current output torque τ is obtained based on the input and output positions of the flexible drive joint.

[0071] τ=K s (θ m -θ out )

[0072] Among them, K s For the stiffness of the flexible driven joint, θ m For input angle, θ out This is the output angle.

[0073] For example, such as Figure 7 and Figure 8 As shown, the elastic component 123 in the aforementioned flexible drive joint is a rotary torsion spring 1230. The rotary torsion spring 1230 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.

[0074] Optionally, such as Figure 7 and Figure 8 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.

[0075] Optionally, such as Figure 7 and Figure 8As 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.

[0076] For the flexible drive joint 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:

[0077] τ=K s (θ m -θ out )

[0078] 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.

[0079] In one embodiment, obtaining the current output torque based on the deformation of the flexible driven joint includes:

[0080] The current output torque τ is obtained based on the input angle, output angle, and transmission coefficient of the flexible drive joint. l :

[0081] τ l =K s Nη(θ m -Nθ l )

[0082] Among them, Ks For the stiffness of the flexible driven joint, θ m For input angle, θ l Where N is the output angle, η is the transmission ratio in the transmission coefficient, and η is the transmission efficiency in the transmission coefficient.

[0083] Specifically, the aforementioned flexible drive joint may also include a transmission device. The drive of the flexible drive joint outputs torque through the flexible linkage and the transmission device. Thus, the current output torque needs to be calculated based on the deformation and transmission coefficient of the flexible drive joint.

[0084] For example, see Figure 2 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.

[0085] See Figure 9 For the flexible drive joint in the above example, the torque output by the drive component is τ. m (This is also the input torque of the flexible linkage), and the output angle of the driving component is θ. m (This is also the input angle of the flexible linkage), the stiffness coefficient of the flexible linkage is K. s The output angle is θ r (This is also the input angle of the actuator), under the action of external force, the deformation of the flexible linkage is θ. s The transmission ratio of the drive is N, the transmission efficiency of the drive is η, and the output angle is θ. l For a flexible driven joint, the following kinematic and static relations apply:

[0086] τm =τ r =K s θ s =τ l / Nη

[0087] θ s =θ m -θ r =θ m -Nθ l

[0088] This leads to the expression for obtaining the current output torque based on the input angle, output angle, and transmission coefficient of the flexible drive joint:

[0089] τ l =K s Nη(θ m -Nθ l )

[0090] It is understandable that the output angle of the drive motor is θ. m This can be obtained from the built-in sensor, K s The parameters are obtained from purchased products or experiments; N and η are provided by the parameters of the synchronous belt pulley; and the output angle θ is obtained from these parameters. l According to such Figure 2 The output torque τ of the flexible drive joint is obtained from the sensor assembly 124 on the upper part of the sensor assembly. Therefore, based on the inherent and real-time motion parameters of the flexible drive module, we can obtain the output torque τ of the flexible drive joint. l size.

[0091] In one embodiment, determining the position adjustment amount corresponding to the control robot's force based on the force deviation or torque deviation between the target force and the current output torque includes: determining the position adjustment amount corresponding to the control robot's force based on the force deviation between the target force and the robot's current force, or determining the position adjustment amount corresponding to the control robot's force based on the torque deviation between the target torque of each flexible drive joint and the corresponding current output torque; wherein, the current force is obtained by combining the current output torques, and the target torque of each flexible drive joint is obtained based on the target force.

[0092] Specifically, see Figure 4 or Figure 5 The position adjustment amount corresponding to the robot's control force can be determined by the force deviation between the target force and the current force. See [link / reference] Figure 6The position adjustment amount corresponding to the robot's control force can be determined by the torque deviation between the target torque and the corresponding current output torque of each flexible drive joint. The position adjustment amount can be the adjustment amount corresponding to the entire motion trajectory or the adjustment amount of the output position of each flexible drive joint. Based on the kinematic relationship of the robot's forces, it is possible to: combine the current output torque to obtain the current force, and convert the target force to obtain the target torque of each flexible drive joint.

[0093] The force deviation between the target force and the current force includes not only the magnitude deviation but also the direction deviation. The position adjustment amount determined based on the magnitude and direction deviations of the force controls not only the magnitude of the force but also its direction. Correspondingly, the position adjustment amount of the entire motion trajectory also has a direction. Preferably, the target force and the current force of the moving platform are a spatial vector. In the XYZ Cartesian coordinate system, it can include components in the X, Y, and Z directions. Thus, the force controller determines the position adjustment amount of the force in the three directions based on the force deviations in the three directions, and controls the magnitude and direction of the force exerted by the robot's moving platform in space through the position adjustment amounts in the three directions.

[0094] Further, see Figure 4 The position adjustment amount corresponding to the robot's control force is determined by the force deviation between the target force and the current force. When the position adjustment amount corresponds to the adjustment amount of the entire motion trajectory, taking the force adjustment in the Z-axis direction as an example, the force PID controller can be specifically expressed as follows:

[0095] {Δp z} T ={0 0 Δp z} T

[0096]

[0097] Among them, △P z F represents the position adjustment amount for the entire motion trajectory along the Z-axis. z-err K represents the deviation between the target force and the current force in the Z-axis direction. p F z-err (t) represents the proportional term (P) of the force PID controller, K p This is the corresponding proportionality coefficient. For the integral term (I) of the force PID controller, K i For the corresponding integral coefficient, For the derivative term (D) of the force PID controller, K dThese are the corresponding differential coefficients. The force PID controller in this embodiment adjusts the force deviation through proportional, integral, and derivative terms. Correspondingly, the X and Y axis directions are handled similarly and will not be elaborated further.

[0098] Furthermore, the position adjustment amount corresponding to the robot's control force is determined by the force deviation between the target force and the current force. When the position adjustment amount is the adjustment amount of the output position of each flexible drive joint, taking the force adjustment in the Z-axis direction as an example, the force PID controller can be specifically expressed as follows:

[0099] {Δp z} T ={0 0 Δp z} T

[0100]

[0101] {Δθ l，z} T =IK1({Δp z} T )

[0102] Where, {Δθ l，z} T IK1 represents the position adjustment amount output by each flexible drive joint, and IK1 represents the conversion relationship (inverse kinematics) between the position adjustment amount output by each flexible drive joint and the adjustment amount of the entire motion trajectory.

[0103] Further, see Figure 6 The position adjustment amount corresponding to the robot's force is determined by the torque deviation between the target torque of each flexible drive joint and the corresponding current output torque. When the position adjustment amount is the adjustment amount of the output position of each flexible drive joint, taking the force adjustment in the Z-axis direction as an example, the force PID controller can be specifically expressed as follows:

[0104]

[0105] Where, {Δθ l，z (t)} T τ represents the position adjustment amount output by each flexible drive joint. l，err This represents the deviation between the target torque and the corresponding current output torque for each flexible drive joint.

[0106] Furthermore, the position adjustment amount corresponding to the force applied to the robot is determined by the torque deviation between the target torque of each flexible drive joint and the corresponding current output torque. The position adjustment amount corresponds to the adjustment amount of the entire motion trajectory. Taking the force adjustment in the Z-axis direction as an example, the force PID controller can be specifically expressed as follows:

[0107]

[0108] {Δθ l，z} T =IK1({Δp z} T )

[0109] In one embodiment, determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount, includes: determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation between the target motion trajectory and the robot's current movement position, and the position adjustment amount; or, determining the speed control quantity corresponding to the robot's movement position based on the position deviation between the target output position and the corresponding current output position of each flexible drive joint, and the position adjustment amount; wherein, the current movement position is obtained by combining the current output positions, and the target output position of each flexible drive joint is obtained by converting the target motion trajectory.

[0110] Specifically, the target motion trajectory of the robot or the target output position of each flexible drive joint is adjusted by the position adjustment amount. Based on the trajectory deviation between the adjusted target motion trajectory and the current motion position or the position deviation between the adjusted target output position and the corresponding current output position, the speed control amount corresponding to the robot's motion position is determined by the position PID controller.

[0111] Specifically, see Figure 4 Based on the trajectory deviation between the target trajectory and the robot's current position, as well as the position adjustment amount, the speed control amount corresponding to the robot's movement position can be determined. (See [link / reference]). Figure 5 or Figure 6 Based on the positional deviation and position adjustment amount between the target output position and the corresponding current output position of each flexible drive joint, the velocity control amount corresponding to the robot's motion position can be determined. According to the kinematic relationships of the robot's spatial motion, it is possible to: combine the current output positions to obtain the current motion position, and transform the target motion trajectory to obtain the target output position of each flexible drive joint.

[0112] Further, see Figure 4 Based on the trajectory deviation between the target trajectory and the robot's current position, as well as the position adjustment amount, the speed control amount corresponding to the robot's movement position can be determined. This position adjustment amount corresponds to the adjustment amount for the entire motion trajectory. In this case, the position PID controller can be specifically represented as:

[0113] {Δθ m} T=IK({p err} T )

[0114]

[0115] Where, p err To finally obtain the motion position deviation of the robot's moving platform, △θ m For the position deviation p err The corresponding output angle deviation of the drive component, IK is the conversion relationship between the two (inverse kinematics), K p {Δθ m (t)} T For the proportional term (P) of the position PID controller, K p This is the corresponding proportionality coefficient. For the integral (I) of the position PID controller, K i For the corresponding integral coefficient, For the derivative term (D) of the position PID controller, K d These are the corresponding differential coefficients. In this embodiment, the position PID controller adjusts the position deviation through proportional, integral, and derivative terms.

[0116] Further, see Figure 5 or Figure 6 Based on the position deviation and position adjustment amount between the target output position and the corresponding current output position of each flexible drive joint, the speed control amount corresponding to the robot's movement position can be determined. This position adjustment amount is the adjustment amount of the output position of each flexible drive joint. At this time, the position PID controller can be specifically represented as:

[0117]

[0118] Where, {Δθ l，err (t)} T This is to finally obtain the output position deviation of each flexible drive joint.

[0119] In one embodiment, based on different kinematic relationships of the robot, the mutual conversion between the robot's force and the output torque of each flexible drive joint, as well as the mutual conversion between the robot's moving platform trajectory and the output position of each flexible drive joint, is realized.

[0120] Specifically, based on the static analysis of the single flexible drive joint described above, the output angle θ of the flexible drive joint can be obtained. l and output torque τ l See Figure 10 These are also the input angles and input torques of the kinematic branches. If θ is used... l，1 and τ l，1θ represents the input angle and torque of the first kinematic branch. l，2 and τ l，2 θ represents the input angle and torque of the second kinematic branch. l，3 and τ l，3 Representing the input angle and torque of the third motion branch, according to the forward kinematics FK1 of the flexible parallel robot, it can be expressed by the input angles {θ} of the three motion branches. l，1 θ l，2 θ l，3} T Obtain the spatial coordinates of the center of the moving platform and any point therein. Preferably, these coordinates are defined as the coordinates of the lowest point of the moving platform, {p}. x p y p z} T This point is usually also the center of action of the contact surface with the external action. Furthermore, based on the positive kinematics FK2 of the flexible parallel robot, the input torques {τ} of the three kinematic chains can be further calculated. l，1 , τ l，2 , τ l，3} T Receives external reaction force It is worth noting that, Given a spatial vector comprising components in the x, y, and z directions, we can determine which direction of force we need to control based on our specific requirements. For example, in some applications, we might want to control the magnitude of the force in the Z direction, which can be expressed as F. z-real .

[0121] Furthermore, based on the aforementioned forward kinematics FK1 and FK2, the corresponding inverse kinematics IK1 and IK2 can be obtained. The forward kinematics FK1 and FK2 of the aforementioned flexible parallel robot can be obtained through kinematic analysis based on the actual structure. This embodiment does not impose specific restrictions on their expressions.

[0122] 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.

[0123] See Figure 11In 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.

[0124] See Figure 12 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.

[0125] See Figure 13 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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 1 and Figure 2 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.

[0130] by Figure 4 Taking the control architecture of the flexible parallel robot as an example, and taking the adjustment of the force in the Z-axis direction as an example, the control process of the above-mentioned flexible parallel robot is as follows:

[0131] Input the control commands for the flexible parallel robot, and obtain the target force F of the moving platform according to the control commands. z-ref and the target trajectory {p ref} T The current output position {θ} is obtained through sensors at each flexible drive joint. l} T The current output torque {τ} is obtained based on the static relationship of the flexible drive joint. l} T .

[0132] τ l =K s Nη(θ m -Nθ l )

[0133] K s For the stiffness of the flexible driven joint, θ m For input angle, θ r Where N is the output angle, η is the transmission ratio in the transmission coefficient, and η is the transmission efficiency in the transmission coefficient.

[0134] Based on the kinematics FK1 of the flexible parallel robot, combined with each current output position {θ l} T Converted to the robot's current motion position {p real} T Based on the kinematics FK2 of the flexible parallel robot, combined with each current output torque {τ l} T Converted into the robot's current force F z-real .

[0135] Based on the target force F in the Z-axis direction z-ref The current force F acting on the robot z-real The deviation F between z-err The Z-axis position adjustment amount {Δp} corresponding to the force applied to the robot is determined by a force PID controller. z} T .

[0136] Adjustment amount by position {△p} z} T Adjust the target motion trajectory {p ref} T And based on the adjusted target trajectory {p ref +△p z} T and current position {p real} T The deviation between {p err} T The speed control quantity corresponding to the robot's movement position is determined by the position PID controller. Based on speed control quantity The drive components that control each flexible drive joint, together through the corresponding kinematic branches, control the motion platform to output motion trajectory and force, so as to realize various techniques in physical therapy and massage.

[0137] In the execution of control commands for the aforementioned flexible parallel robot, closed-loop flexible drive based on the robot's force and motion trajectory allows for precise control of both. Specifically, controlling the robot's force through position adjustment (the deformation of the flexible drive joint) simplifies control complexity and improves stability. Furthermore, combining this position adjustment with the motion trajectory determines the velocity control quantity corresponding to the robot's position. This velocity control quantity controls both the robot's position and force, achieving a combination of mechanical and kinematic control. This further simplifies drive design, ensures drive precision, and improves execution efficiency. Additionally, when the flexible drive joint absorbs impact energy, it transforms it into deformation, which is then further transformed into position adjustment. This not only effectively absorbs impact energy but also allows for kinematic and mechanical control based on the position adjustment, 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.

[0138] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0139] Based on the same inventive concept, this application also provides a flexible parallel robot control device for implementing the flexible parallel robot control 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 embodiments of the flexible parallel robot control device provided below can be found in the limitations of the flexible parallel robot control method described above, and will not be repeated here.

[0140] In one embodiment, such as Figure 14 As shown, a flexible parallel robot control device is provided, comprising:

[0141] The acquisition module 1 is used to acquire the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot;

[0142] Force controller 2 determines the position adjustment amount corresponding to the robot's force based on the force deviation or torque deviation between the target force and the current output torque.

[0143] The position controller 3 is used to determine the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, as well as the position adjustment amount, and to control the drive components of each flexible drive joint based on the speed control quantity to drive the robot's flexible movement.

[0144] In one embodiment, the acquisition module obtains the current output torque based on the deformation of the flexible drive joint.

[0145] In one embodiment, the acquisition module obtains the current output torque based on the deformation of the flexible driven joint, including:

[0146] The current output torque τ is obtained based on the input angle, output angle, and transmission coefficient of the flexible drive joint. l :

[0147] τ l =K s Nη(θ m -Nθ l )

[0148] Among them, K s For the stiffness of the flexible driven joint, θ m For input angle, θ l Where N is the output angle, η is the transmission ratio in the transmission coefficient, and η is the transmission efficiency in the transmission coefficient.

[0149] In one embodiment, determining the position adjustment amount corresponding to the control robot's force based on the force deviation or torque deviation between the target force and the current output torque includes: determining the position adjustment amount corresponding to the control robot's force based on the force deviation between the target force and the robot's current force, or determining the position adjustment amount corresponding to the control robot's force based on the torque deviation between the target torque of each flexible drive joint and the corresponding current output torque; wherein, the current force is obtained by combining the current output torques, and the target torque of each flexible drive joint is obtained based on the target force.

[0150] In one embodiment, determining the position adjustment amount corresponding to the robot's force based on the force deviation or torque deviation between the target force and the current output torque includes: determining the position adjustment amount corresponding to the robot's force using a force PID controller based on the force deviation or torque deviation between the target force and the current output torque.

[0151] In one embodiment, determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount, includes: determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation between the target motion trajectory and the robot's current movement position, and the position adjustment amount; or, determining the speed control quantity corresponding to the robot's movement position based on the position deviation between the target output position and the corresponding current output position of each flexible drive joint, and the position adjustment amount; wherein, the current movement position is obtained by combining the current output positions, and the target output position of each flexible drive joint is obtained by converting the target motion trajectory.

[0152] In one embodiment, determining the speed control quantity corresponding to the robot's movement position based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount, includes: adjusting the robot's target motion trajectory or the target output position of each flexible drive joint by adjusting the position adjustment amount, and determining the speed control quantity corresponding to the robot's movement position by a position PID controller based on the trajectory deviation between the adjusted target motion trajectory and the current movement position or the position deviation between the adjusted target output positions and the corresponding current output positions.

[0153] 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;

[0154] 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.

[0155] The trajectory of acupressure is a straight line or a curve along the direction perpendicular to the surface of action;

[0156] The trajectory of tendon removal movement is a straight line or curve along the surface of an action surface.

[0157] Each module in the aforementioned flexible parallel robot control 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.

[0158] In one embodiment, a flexible parallel robot is provided, including a memory and a processor, the memory storing a computer program, see below. Figure 1 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 parallel robot control methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods, which will not be repeated here.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements any of the flexible parallel robot control methods described in the above embodiments.

[0160] 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. When executed, the computer program 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.

[0161] 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.

[0162] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this 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 parallel robot control method, characterized in that, The method includes: The system acquires the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot. The target motion trajectory is the combined trajectory of multiple flexible drive joints in the robot driving the moving platform through corresponding kinematic chains. The target force is the interaction force between the moving platform and the external environment. The current output position is the angle value of the output end of each flexible drive joint. The current output torque is the torque at the output end of each flexible drive joint. The current output torque is obtained based on the deformation of each flexible drive joint. Based on the force deviation or torque deviation between the target force and the current output torque, the position adjustment amount corresponding to the robot's force is determined; the position adjustment amount is the adjustment amount of the target motion trajectory or the adjustment amount of the output position of each flexible drive joint. The target motion trajectory or the target output position of each flexible drive joint is adjusted by the position adjustment amount, and the speed control amount corresponding to the robot's motion position is determined based on the trajectory deviation between the adjusted target motion trajectory and the current motion position, or based on the position deviation between each adjusted target output position and the corresponding current output position; wherein, the target output position of each flexible drive joint is obtained based on the target motion trajectory; and the current motion position is obtained based on each current output position. Based on the speed control quantity, the driving components of each of the flexible drive joints are controlled to drive the robot's flexible movement.

2. The method according to claim 1, characterized in that, The step of obtaining the current output torque based on the deformation of the flexible drive joint includes: The current output torque is obtained based on the input angle, output angle, and transmission coefficient of the flexible drive joint. : in, Let be the stiffness of the flexible drive joint. For the input angle, For the output angle, The transmission ratio in the transmission coefficient, The transmission efficiency is the factor in the transmission coefficient.

3. The method according to claim 1, characterized in that, The step of determining the position adjustment amount corresponding to the robot's control force based on the force deviation or torque deviation between the target force and the current output torque includes: The position adjustment amount corresponding to the robot's control force is determined based on the force deviation between the target force and the robot's current force; or, the position adjustment amount corresponding to the robot's control force is determined based on the torque deviation between the target torque of each flexible drive joint and the corresponding current output torque. Specifically, the current force is obtained by combining the current output torque of each component, and the target torque of each flexible drive joint is obtained by converting the target force.

4. The method according to claim 3, characterized in that, The step of determining the position adjustment amount corresponding to the robot's control force based on the force deviation or torque deviation between the target force and the current output torque includes: Based on the force deviation or torque deviation between the target force and the current output torque, the position adjustment amount corresponding to the robot's force is determined by the force PID controller.

5. The method according to any one of claims 1 to 4, characterized in that, 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.

6. A flexible parallel robot control device, characterized in that, include: The acquisition module is used to acquire the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot; The target motion trajectory is the combined trajectory of multiple flexible drive joints in the robot driving the moving platform through corresponding motion chains; the target force is the interaction force between the moving platform and the outside world; the current output position is the angle value of the output end of each flexible drive joint; the current output torque is the torque of the output end of each flexible drive joint; the current output torque is obtained based on the deformation of each flexible drive joint. A force controller is used to determine the position adjustment amount corresponding to the robot's action force based on the force deviation or torque deviation between the target action force and the current output torque; the position adjustment amount is the adjustment amount of the target motion trajectory or the adjustment amount of the output position of each flexible drive joint; The position controller is specifically used to adjust the target motion trajectory or the target output position of each flexible drive joint through the position adjustment amount, and to determine the speed control amount corresponding to the robot's motion position based on the trajectory deviation between the adjusted target motion trajectory and the current motion position, or based on the position deviation between each of the adjusted target output positions and the corresponding current output position. Based on the speed control amount, the controller controls the drive components of each of the flexible drive joints to drive the robot's flexible motion. The target output position of each flexible drive joint is obtained based on the target motion trajectory; the current motion position is obtained based on each of the current output positions.

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 5.

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 5.

Images