Robot Joint Control Method, Device and Storage Medium

Abstract

The present application provides a robot joint control method, device, and storage medium, relating to the technical field of robots. The method includes: obtaining the joint acceleration of a target joint at the current moment based on the preset limit parameters for the rotation of the target joint in the robot; obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint; and performing motion control on the target joint in the robot according to the target joint position of the target joint at the next moment. By applying the embodiments of the present application, it is possible to take into account the preset limit parameters for the rotation of the target joint, constrain the change in the joint position of the robot through the preset limit parameters, and then, when controlling the target joint based on the obtained target joint position of the target joint at the next moment, achieve compliant control of the target joint.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a robot joint control method, device, and storage medium. Background Art

[0002] A typical robot manipulator includes a series of rigid elements joined together by joints. These elements can be connected in series to form an arm, and the joints can be driven to cause relative movement of the rigid elements. The rigid elements can extend from a base and terminate at an attachment for a tool or end effector. Thus, movement at the joints can be used to position the end effector at a desired location. Each joint can provide rotational or linear movement.

[0003] Existing robot joint control limit generally directly adopts the method of restricting with position control instructions and mechanical structure limits.

[0004] However, during its control process, the speed of the robot joint suddenly drops to zero when it moves to the limit position, and the joint speed is discontinuous, resulting in vibration during the control process. Therefore, the existing control method has the problem of insufficiently compliant control. Summary of the Invention

[0005] The purpose of this application is to provide a robot joint control method, device, and storage medium, which can achieve compliant control of robot joints, aiming at the deficiencies in the above-mentioned existing technologies.

[0006] To achieve the above purpose, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, the present invention provides a robot joint control method, including:

[0008] Based on preset limit parameters for the rotation of a target joint in a robot, obtain the joint acceleration of the target joint at the current moment;

[0009] According to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint, obtain the target joint position of the target joint at the next moment;

[0010] Perform motion control on the target joint in the robot according to the target joint position of the target joint at the next moment.

[0011] In an optional implementation manner, the obtaining the joint acceleration of the target joint at the current moment based on preset limit parameters for the rotation of the target joint in the robot includes:

[0012] Obtain the expected joint position and the actual joint position of the target joint at the current moment respectively;

[0013] Calculate the position control deviation of the target joint at the current moment based on the expected joint position and the actual joint position of the target joint at the current moment;

[0014] Obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint.

[0015] In an alternative embodiment, the preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter. The preset soft limit parameters are limit parameters for characterizing the motion compliance of the target joint;

[0016] The step of obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes:

[0017] If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0018] In an alternative embodiment, the preset limit parameters include: preset hard limit parameters, and the preset hard limit parameters include: a first preset hard limit parameter and a second preset hard limit parameter. The second preset hard limit parameter is greater than the first preset hard limit parameter, the first preset soft limit parameter is greater than the first preset hard limit parameter, the second preset hard limit parameter is greater than the second preset soft limit parameter. The preset hard limit parameters are limit parameters for characterizing the motion range of the target joint;

[0019] The step of obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes:

[0020] If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0021] In an alternative embodiment, the step of obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes:

[0022] If it is determined that the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0023] In an alternative embodiment, obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment includes:

[0024] Calculating a first difference between the second preset hard limit parameter and the second preset soft limit parameter;

[0025] Calculating a second difference between the expected joint position of the target joint at the current moment and the second preset soft limit parameter;

[0026] Obtaining the joint acceleration of the target joint at the current moment according to the first difference, the second difference, and the position control deviation of the target joint at the current moment.

[0027] In an alternative embodiment, obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint includes:

[0028] Respectively obtaining the expected joint velocity of the target joint at the current moment and the expected joint position of the target joint;

[0029] Calculating the expected joint velocity of the target joint at the next moment according to the expected joint velocity of the target joint at the current moment and the joint acceleration of the target joint;

[0030] Obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the expected joint velocity of the target joint at the next moment.

[0031] In a second aspect, the present invention provides a robot control device, including:

[0032] A first acquisition module, configured to obtain the joint acceleration of the target joint at the current moment based on the preset limit parameters of the rotation of the target joint in the robot;

[0033] A second acquisition module, configured to obtain the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint;

[0034] A control module, configured to perform motion control on the target joint in the robot according to the target joint position of the target joint at the next moment.

[0035] In an alternative embodiment, the first acquisition module is specifically configured to respectively obtain the expected joint position and the actual joint position of the target joint at the current moment;

[0036] Calculating the position control deviation of the target joint at the current moment according to the expected joint position and the actual joint position of the target joint at the current moment;

[0037] Obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint.

[0038] In an alternative embodiment, the preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter. The preset soft limit parameters are limit parameters used to characterize the motion compliance of the target joint.

[0039] The first obtaining module is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0040] In an alternative embodiment, the preset limit parameters include: preset hard limit parameters, and the preset hard limit parameters include: a first preset hard limit parameter and a second preset hard limit parameter. The second preset hard limit parameter is greater than the first preset hard limit parameter. The first preset soft limit parameter is greater than the first preset hard limit parameter. The second preset hard limit parameter is greater than the second preset soft limit parameter. The preset hard limit parameters are limit parameters used to characterize the motion range limit of the target joint.

[0041] The first obtaining module is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0042] In an alternative embodiment, the first obtaining module is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0043] In an alternative embodiment, the first obtaining module is specifically configured to calculate a first difference between the second preset hard limit parameter and the second preset soft limit parameter;

[0044] Calculate a second difference between the expected joint position of the target joint at the current moment and the second preset soft limit parameter;

[0045] Obtain the joint acceleration of the target joint at the current moment according to the first difference, the second difference, and the position control deviation of the target joint at the current moment.

[0046] In an alternative embodiment, the second acquisition module is specifically configured to respectively acquire the expected joint velocity of the target joint at the current moment and the expected joint position of the target joint.

[0047] Calculate the expected joint velocity of the target joint at the next moment according to the expected joint velocity of the target joint at the current moment and the joint acceleration of the target joint.

[0048] Acquire the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the expected joint velocity of the target joint at the next moment.

[0049] In a third aspect, the present invention provides an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the robot joint control method according to any one of the foregoing embodiments.

[0050] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of the robot joint control method according to any one of the foregoing embodiments.

[0051] The beneficial effects of the present application are as follows:

[0052] In the robot joint control method, device, and storage medium provided by the embodiments of the present application, it includes: acquiring the joint acceleration of the target joint at the current moment based on the preset limit parameters of the rotation of the target joint in the robot; acquiring the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint; performing motion control on the target joint in the robot according to the target joint position of the target joint at the next moment. By applying the embodiments of the present application, it is possible to take into account the preset limit parameters of the rotation of the target joint, constrain the change of the joint position of the robot through the preset limit parameters, and then when controlling the target joint based on the obtained target joint position of the target joint at the next moment, compliant control of the target joint can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0054] Figure 1Schematic flowchart of a robot joint control method provided by an embodiment of the present application;

[0055] Figure 2 Schematic flowchart of another robot joint control method provided by an embodiment of the present application;

[0056] Figure 3 Schematic flowchart of yet another robot joint control method provided by an embodiment of the present application;

[0057] Figure 4 Schematic flowchart of another robot joint control method provided by an embodiment of the present application;

[0058] Figure 5 Schematic flowchart of yet another robot joint control method provided by an embodiment of the present application;

[0059] Figure 6 Schematic diagram of functional modules of a robot joint control device provided by an embodiment of the present application;

[0060] Figure 7 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Components of the embodiments of the present application generally described and illustrated in the figures herein can be arranged and designed in a variety of different configurations.

[0062] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but is merely representative of selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0063] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

[0064] Generally, the existing robot joint control limit adopts the method of directly using position control instructions to limit and mechanical structure limit. However, since the speed of the robot joint suddenly drops to zero when it moves to the limit position during the control process, the existing joint control method has the problem of insufficiently compliant control.

[0065] In view of this, an embodiment of the present application provides a method for controlling a robot joint. By applying this method, compliant control of the robot joint can be achieved.

[0066] Figure 1 FIG. is a schematic flowchart of a method for controlling a robot joint provided by an embodiment of the present application. The execution subject of this method can be a robot, specifically a processor in the robot. As Figure 1 shown, this method may include:

[0067] S101. Based on the preset limit parameters for the rotation of the target joint in the robot, obtain the joint acceleration of the target joint at the current moment.

[0068] Among them, the preset limit parameters for the rotation of the target joint are used to represent the limit area when the target joint rotates, and its value can be obtained by testing the target joint. According to the actual application scenario, the target joint can specifically be a shoulder joint, a wrist joint, an elbow joint, a hip joint, a knee joint, an ankle joint, etc., which is not limited herein. For different target joints, the corresponding preset limit parameters will be different.

[0069] Based on the determined preset limit parameters for the rotation of the target joint, further, according to the magnitude relationship between the preset limit parameters and the actual joint position of the target joint at the current moment, the joint acceleration of the target joint at the current moment can be obtained.

[0070] S102. According to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint, obtain the target joint position of the target joint at the next moment.

[0071] Optionally, the expected joint position of the target joint at the current moment can be obtained through a preset planned motion trajectory. Based on the determined expected joint position of the target joint at the current moment and the joint acceleration of the target joint at the current moment, the expected joint position of the target joint at the next moment can be corrected to obtain the target joint position of the target joint at the next moment.

[0072] S103. Perform motion control on the target joint in the robot according to the target joint position of the target joint at the next moment.

[0073] Based on the above description, after obtaining the target joint position of the target joint at the next moment, the motion of the target joint can be controlled accordingly. By applying the embodiment of the present application, it is possible to take into account the preset limit parameters for the rotation of the target joint, restrict the change of the joint position of the robot through the preset limit parameters, and then when controlling the target joint based on the obtained target joint position of the target joint at the next moment, compliant control of the target joint can be achieved.

[0074] In summary, in the robot joint control method provided by the embodiments of the present application, it includes: obtaining the joint acceleration of the target joint at the current moment based on the preset limit parameters for the rotation of the target joint in the robot; obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint; performing motion control on the target joint in the robot according to the target joint position of the target joint at the next moment. By applying the embodiments of the present application, it is possible to take into account the preset limit parameters for the rotation of the target joint, restrict the change of the joint position of the robot through the preset limit parameters, and then when controlling the target joint based on the obtained target joint position of the target joint at the next moment, compliant control of the target joint can be achieved.

[0075] Figure 2 FIG. is a schematic flowchart of another robot joint control method provided by the embodiments of the present application. Optionally, as Figure 2 shown, the above-mentioned obtaining the joint acceleration of the target joint at the current moment based on the preset limit parameters for the rotation of the target joint in the robot includes:

[0076] S201. Respectively obtain the expected joint position and the actual joint position of the target joint at the current moment.

[0077] Among them, the actual joint position of the target joint at the current moment can be acquired by collecting through the position sensor corresponding to the target joint. Optionally, the position sensor corresponding to the target joint can be a resistive position sensor, a piezoresistive position sensor, a laser position sensor, etc., which is not limited herein.

[0078] S202. Calculate the position control deviation of the target joint at the current moment according to the expected joint position and the actual joint position of the target joint at the current moment.

[0079] Among them, the position control deviation of the target joint at the current moment can be obtained by calculating the difference between the expected joint position of the target joint at the current moment and the actual joint position at the current moment. Among them, the specific calculation formula can be expressed as: error = pos_des - pos, where error represents the position control deviation of the target joint at the current moment, pos_des represents the expected joint position of the target joint at the current moment, and pos represents the actual joint position of the target joint at the current moment.

[0080] S203. Obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint.

[0081] Optionally, specifically when obtaining, the joint acceleration of the target joint at the current moment can be obtained based on the position control deviation of the target joint at the current moment according to the magnitude relationship between the preset limit parameters of the rotation of the target joint and the actual joint position of the target joint at the current moment.

[0082] Optionally, the above preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter. The preset soft limit parameters are limit parameters used to characterize the motion compliance of the target joint. It should be noted that the second preset soft limit parameter is greater than the first preset soft limit parameter. The first preset soft limit parameter can characterize the minimum limit parameter of the motion compliance of the target joint, and the second preset soft limit parameter can characterize the maximum limit parameter of the motion compliance of the target joint. It can be understood that according to the first preset soft limit parameter and the second preset soft limit parameter, the compliance range of the motion of the target joint can be determined.

[0083] Figure 3 It is a schematic flowchart of another robot joint control method provided by the embodiments of the present application. Based on the above description, as Figure 3 shown, the above-mentioned obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters of the rotation of the target joint includes:

[0084] S301. If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, then the joint acceleration of the target joint at the current moment is obtained according to the position control deviation of the target joint at the current moment.

[0085] Among them, specifically when obtaining, the magnitude relationship between the actual joint position of the target joint at the current moment and the first preset soft limit parameter and the second preset soft limit parameter can be compared, and according to the comparison result, the joint acceleration of the target joint at the current moment is obtained.

[0086] Optionally, the above obtaining process can refer to the following formula: If it is determined that min_soft < pos < max_soft, then the joint acceleration of the target joint at the current moment is obtained according to the formula Acc = PD1(error). Where pos represents the actual joint position of the target joint at the current moment, min_soft represents the first preset soft limit parameter, max_soft represents the second preset soft limit parameter, error represents the position control deviation of the target joint at the current moment, Acc represents the joint acceleration of the target joint at the current moment, and PD1() represents the first proportion derivative controller, that is, specifically in control, the joint acceleration of the target joint at the current moment can be calculated by means of the first PD controller.

[0087] Optionally, the preset limit parameters include: preset hard limit parameters, and the preset hard limit parameters include: a first preset hard limit parameter and a second preset hard limit parameter. The second preset hard limit parameter is greater than the first preset hard limit parameter. The first preset soft limit parameter is greater than the first preset hard limit parameter. The second preset hard limit parameter is greater than the second preset soft limit parameter. That is, the preset limit parameters are arranged in ascending order, and the corresponding arrangement order is the first preset hard limit parameter, the first preset soft limit parameter, the second preset soft limit parameter, and the second preset hard limit parameter.

[0088] Among them, the preset hard limit parameter is used to represent the motion range limit parameter of the target joint. Specifically, the first preset hard limit parameter can represent the minimum limit parameter of the motion range of the target joint, and the second preset hard limit parameter can represent the maximum limit parameter of the motion range of the target joint. It can be understood that according to the first preset hard limit parameter and the second preset hard limit parameter, the motion range of the target joint can be determined.

[0089] Based on the above description, as Figure 3 shown, the above method for obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters of the rotation of the target joint includes:

[0090] S302. If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0091] S303. If it is determined that the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0092] Among them, based on the introduced preset hard limit parameter, by comparing the magnitude relationship among the actual joint position of the target joint at the current moment, the first preset hard limit parameter, the first preset soft limit parameter, the second preset hard limit parameter, and the second preset soft limit parameter, and according to the comparison result, the joint acceleration of the target joint at the current moment can be obtained.

[0093] In summary, by applying the embodiments of the present application, it is possible to calculate the joint acceleration of the target joint at the current moment based on the actual joint position and the preset limit parameters of the target joint at the current moment. Furthermore, based on the joint acceleration of the target joint at the current moment and the expected joint position of the target joint at the current moment, the expected joint position of the target joint at the next moment can be corrected to obtain the target joint position of the target joint at the next moment. When performing motion control on the target joint based on the expected joint position of the target joint at the current moment according to the target joint position of the target joint at the next moment, the continuity of the target joint speed can be ensured, the joint vibration phenomenon can be avoided during the control process, and thus the smooth control of the target joint can be achieved.

[0094] Figure 4 FIG. is a schematic flow chart of another robot joint control method provided by the embodiments of the present application. Optionally, as Figure 4 shown, the obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment includes:

[0095] S401. Calculate a first difference between a second preset hard limit parameter and a second preset soft limit parameter.

[0096] S402. Calculate a second difference between the expected joint position of the target joint at the current moment and the second preset soft limit parameter.

[0097] S403. Obtain the joint acceleration of the target joint at the current moment according to the first difference, the second difference, and the position control deviation of the target joint at the current moment.

[0098] Wherein, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, or the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, the initial joint acceleration of the target joint at the current moment can be first calculated according to the position control deviation of the target joint at the current moment, and the initial joint acceleration of the target joint at the current moment is corrected according to the first difference, the second difference, and the joint acceleration limit coefficient of the target joint calculated above, and the joint acceleration of the target joint at the current moment is obtained through the correction.

[0099] Optionally, the specific correction process can be referred to the following formula: wherein, if it is determined that min_hard < pos < min_soft or max_soft < pos < max_hard, the joint acceleration of the target joint at the current moment is obtained according to the following formula:

[0100]

[0101] Wherein, Acc represents the joint acceleration of the target joint at the current moment, error represents the position control deviation of the target joint at the current moment, K_acc represents the joint acceleration limit coefficient of the target joint, and its value can be adjusted and determined according to the actual motion effect, pos represents the expected joint position of the target joint at the current moment, max_soft represents the second preset soft limit parameter, max_hard represents the second preset hard limit parameter, PD2() represents the second proportional derivative controller, that is, in specific control, the initial joint acceleration of the target joint at the current moment can be calculated by means of the second PD controller, pi represents the pi, and its value can be 3.14159.

[0102] It should be noted that based on the above formula, it can also be seen that when the expected joint position of the target joint at the current moment is closer to the second preset hard limit parameter, the calculated joint acceleration of the target joint at the current moment will be infinitely large in the reverse direction relative to the joint motion direction of the target joint. In this way, the target joint speed of the target joint at the next moment will gradually decelerate to zero, and how to avoid the situation where the target joint speed of the target joint in the prior art suddenly decelerates to zero, thereby avoiding the phenomenon of vibration during the joint control process.

[0103] Figure 5 This is a schematic flowchart of another robot joint control method provided by the embodiment of the present application. Optionally, as Figure 5 shown, the above-mentioned obtaining the target joint position of the target joint at the next moment according to the expected joint position and joint acceleration of the target joint at the current moment includes:

[0104] S501. Respectively obtain the expected joint speed and expected joint position of the target joint at the current moment.

[0105] Optionally, the expected joint speed and expected joint position of the target joint at the current moment can be obtained according to the trajectory planning parameters of the target joint.

[0106] S502. Calculate the expected joint speed of the target joint at the next moment according to the expected joint speed of the target joint at the current moment and the joint acceleration of the target joint.

[0107] The expected joint speed of the target joint at the next moment can be calculated according to the expected joint speed of the target joint at the current moment and the joint speed variable of the next moment relative to the current moment. The joint speed variable of the next moment relative to the current moment can be calculated according to the joint acceleration of the target joint at the current moment and the time difference between the next moment and the current moment.

[0108] For specific calculations, the following formula can be referred to: vel(k + 1) = vel(k) + Acc × dt, where vel(k) represents the expected joint velocity of the target joint at the current k-th moment, vel(k + 1) represents the expected joint velocity of the target joint at the next moment after the k-th moment, Acc represents the joint acceleration of the target joint at the current k-th moment, and dt represents the time difference between the next k + 1-th moment and the current k-th moment.

[0109] S503. Obtain the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the expected joint velocity of the target joint at the next moment.

[0110] Among them, the expected joint position of the target joint at the current moment can be obtained according to the trajectory planning parameters of the target joint. Based on the above description, for specific calculations, the following calculation formula can be used to obtain: pos_des(k + 1) = pos_des(k) + vel(k + 1) × dt, where pos_des(k) represents the expected joint position of the target joint at the current moment, vel(k + 1) represents the expected joint velocity of the target joint at the next moment, and dt represents the time difference between the k + 1-th moment and the current k-th moment.

[0111] Figure 6 It is a schematic diagram of the functional modules of a robot joint control device provided by an embodiment of the present application. The basic principle and the technical effects generated by this device are the same as those of the corresponding method embodiment described above. For a brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the method embodiment. As Figure 6 shown, the robot joint control device 100 includes:

[0112] The first acquisition module 110 is used to acquire the joint acceleration of the target joint at the current moment based on the preset limit parameters of the rotation of the target joint in the robot;

[0113] The second acquisition module 120 is used to acquire the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint;

[0114] The control module 130 is used to perform motion control on the target joint in the robot according to the target joint position of the target joint at the next moment.

[0115] In an optional implementation manner, the first acquisition module 110 is specifically used to respectively acquire the expected joint position and the actual joint position of the target joint at the current moment;

[0116] Calculate the position control deviation of the target joint at the current moment according to the expected joint position and the actual joint position of the target joint at the current moment;

[0117] Obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint.

[0118] In an alternative embodiment, the preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter. The preset soft limit parameters are limit parameters used to characterize the motion compliance of the target joint.

[0119] The first obtaining module 110 is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0120] In an alternative embodiment, the preset limit parameters include: preset hard limit parameters, and the preset hard limit parameters include: a first preset hard limit parameter and a second preset hard limit parameter. The second preset hard limit parameter is greater than the first preset hard limit parameter. The first preset soft limit parameter is greater than the first preset hard limit parameter. The second preset hard limit parameter is greater than the second preset soft limit parameter. The preset hard limit parameters are limit parameters used to characterize the motion range limit of the target joint.

[0121] The first obtaining module 110 is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0122] In an alternative embodiment, the first obtaining module 110 is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

[0123] In an alternative embodiment, the first obtaining module 110 is specifically configured to calculate a first difference between the second preset hard limit parameter and the second preset soft limit parameter.

[0124] Calculate a second difference between the expected joint position of the target joint at the current moment and the second preset soft limit parameter.

[0125] Obtain the joint acceleration of the target joint at the current moment according to the first difference, the second difference, and the position control deviation of the target joint at the current moment.

[0126] In an alternative embodiment, the second acquisition module 120 is specifically configured to respectively acquire the expected joint velocity of the target joint and the expected joint position of the target joint at the current moment;

[0127] Calculate the expected joint velocity of the target joint at the next moment according to the expected joint velocity and the joint acceleration of the target joint at the current moment;

[0128] Acquire the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the expected joint velocity of the target joint at the next moment.

[0129] The above device is used to execute the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and will not be elaborated here.

[0130] These above modules may be one or more integrated circuits configured to implement the above method. For example: one or more application specific integrated circuits (ASICs), or, one or more microprocessors, or, one or more field programmable gate arrays (FPGAs), etc. Again, when a certain above module is implemented in the form of a processing element dispatching program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0131] Figure 7 A schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device may be integrated into a processing unit in a robot. As Figure 7 shown, the electronic device may include: a processor 210, a storage medium 220, and a bus 230. The storage medium 220 stores machine-readable instructions executable by the processor 210. When the electronic device runs, the processor 210 communicates with the storage medium 220 through the bus 230, and the processor 210 executes the machine-readable instructions to execute the steps of the above method embodiment. The specific implementation manner and technical effects are similar and will not be elaborated here.

[0132] Optionally, the present application further provides a storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the above method embodiment. The specific implementation manner and technical effects are similar and will not be elaborated here.

[0133] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0136] The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks or optical discs that can store program codes.

[0137] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0138] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A robot joint control method, characterized in that, it includes: Based on the preset limit parameters for the rotation of the target joint in the robot, obtain the joint acceleration of the target joint at the current moment; According to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint, obtain the target joint position of the target joint at the next moment; According to the target joint position of the target joint at the next moment, perform motion control on the target joint in the robot; The obtaining of the joint acceleration of the target joint at the current moment based on the preset limit parameters for the rotation of the target joint in the robot includes: Respectively obtain the expected joint position and the actual joint position of the target joint at the current moment; According to the expected joint position and the actual joint position of the target joint at the current moment, calculate the position control deviation of the target joint at the current moment; According to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint, obtain the joint acceleration of the target joint at the current moment; The preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter, and the preset soft limit parameters are limit parameters for characterizing the motion compliance of the target joint; The obtaining of the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes: If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

2. The method according to claim 1, characterized in that, The preset limit parameters include: preset hard limit parameters, and the preset hard limit parameters include: a first preset hard limit parameter and a second preset hard limit parameter, the second preset hard limit parameter is greater than the first preset hard limit parameter, the first preset soft limit parameter is greater than the first preset hard limit parameter, the second preset hard limit parameter is greater than the second preset soft limit parameter, and the preset hard limit parameters are limit parameters for characterizing the motion range of the target joint; The obtaining of the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes: If it is determined that the actual joint position of the target joint at the current moment is greater than the first preset hard limit parameter and less than the first preset soft limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

3. The method according to claim 2, characterized in that, The obtaining of the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters for the rotation of the target joint includes: If it is determined that the actual joint position of the target joint at the current moment is greater than the second preset soft limit parameter and less than the second preset hard limit parameter, then obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

4. The method according to claim 2, characterized in that, Obtaining the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment includes: Calculating a first difference between the second preset hard limit parameter and the second preset soft limit parameter; Calculating a second difference between the expected joint position of the target joint at the current moment and the second preset soft limit parameter; Obtaining the joint acceleration of the target joint at the current moment according to the first difference, the second difference, and the position control deviation of the target joint at the current moment.

5. The method according to any one of claims 1-4, wherein, obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint includes: Respectively obtaining the expected joint velocity and the expected joint position of the target joint at the current moment; Calculating the expected joint velocity of the target joint at the next moment according to the expected joint velocity of the target joint at the current moment and the joint acceleration of the target joint; Obtaining the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the expected joint velocity of the target joint at the next moment.

6. A robot control device, wherein, comprising: A first acquisition module, configured to obtain the joint acceleration of the target joint at the current moment based on the preset limit parameters of the rotation of the target joint in the robot; A second acquisition module, configured to obtain the target joint position of the target joint at the next moment according to the expected joint position of the target joint at the current moment and the joint acceleration of the target joint; A control module, configured to perform motion control on the target joint in the robot according to the target joint position of the target joint at the next moment; The first acquisition module is specifically configured to respectively obtain the expected joint position and the actual joint position of the target joint at the current moment; calculate the position control deviation of the target joint at the current moment according to the expected joint position and the actual joint position of the target joint at the current moment; Obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment and the preset limit parameters of the rotation of the target joint; The preset limit parameters include: preset soft limit parameters, and the preset soft limit parameters include: a first preset soft limit parameter and a second preset soft limit parameter, and the preset soft limit parameters are limit parameters for characterizing the motion compliance of the target joint; The first acquisition module is specifically configured to, if it is determined that the actual joint position of the target joint at the current moment is greater than the first preset soft limit parameter and less than the second preset soft limit parameter, obtain the joint acceleration of the target joint at the current moment according to the position control deviation of the target joint at the current moment.

7. An electronic device, wherein, comprising: A processor, a storage medium, and a bus, the storage medium stores machine-readable instructions executable by the processor, when the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to execute the steps of the robot joint control method according to any one of claims 1-5.

8. A computer-readable storage medium, wherein, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the robot joint control method according to any one of claims 1-5.

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