Mechanical arm torque control, device, computer equipment, storage medium

Abstract

The application relates to a mechanical arm torque control method, device, computer equipment and storage medium. The method comprises the following steps: determining the deflection amount between the actual position of the output end of each joint module of the mechanical arm and the theoretical position of the output end according to the torque and rigidity corresponding to each joint module; generating a position compensation signal according to the deflection amount corresponding to each joint module, and controlling the rotation of the motor of the joint module according to the position compensation signal, so that the output end of each joint module returns to the theoretical position of the output end. In the above method, the deflection amount between the actual position of the output end of the joint module and the theoretical position of the output end caused by insufficient rigidity is determined, a position compensation signal is generated according to the deflection amount, compensation is performed according to the position compensation signal, the output end of each joint module returns to the theoretical position of the output end, and the position accuracy of the mechanical arm is improved.

Description

Technical Field

[0001] This application relates to the field of control technology for multi-joint robots, and in particular to a mechanical arm torque control device, computer equipment, and storage medium. Background Technology

[0002] The joint module is an important component of a robotic arm, and it includes a motor, a reducer, and a torque sensor. Robotic arms using joint modules suffer from poor absolute positional accuracy due to the low rigidity of the joint modules, which leads to positional deviations at the output end of the joint module after loading. Summary of the Invention

[0003] Therefore, it is necessary to provide a robotic arm torque control device, computer equipment, and storage medium that can improve the positional accuracy of the robotic arm, addressing the aforementioned technical problems.

[0004] Firstly, this application provides a method for controlling the torque of a robotic arm. The method includes:

[0005] Obtain the stiffness coefficients of each joint module of the robotic arm;

[0006] Based on the torque and stiffness coefficients of each joint module, determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm.

[0007] A position compensation signal is generated based on the deflection amount of each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0008] In one embodiment, the stiffness coefficients of each joint module of the robotic arm are obtained, including:

[0009] Obtain the first stiffness coefficient of the output end link of the joint module of the robotic arm, and the second stiffness coefficient of the joint module itself;

[0010] The rigidity coefficients of each joint module of the robotic arm are determined based on the first rigidity coefficient and the second rigidity coefficient.

[0011] In one embodiment, a position compensation signal is generated based on the deflection amount corresponding to each joint module, and the motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end, including:

[0012] The motor compensation rotation direction of the joint module is determined based on the actual position and theoretical position of the output end of each joint module.

[0013] A position compensation signal is generated based on the motor's compensated rotation direction and deflection amount;

[0014] The motors of the joint modules are controlled to rotate according to the position compensation signal, so that the output end of each joint module returns to its theoretical position.

[0015] In one embodiment, the robotic arm includes a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, and a sixth joint module connected sequentially via output links;

[0016] If the robotic arm is installed in a forward or inverted manner, position compensation signals for the second and third joint modules are generated based on the deflection of the second and third joint modules. The motors of the second and third joint modules are controlled to rotate based on the position compensation signals of the second and third joint modules, so that the actual position of the output end of the second and third joint modules returns to the theoretical position of the output end.

[0017] If the robotic arm is installed in a side-mounted manner, a position compensation signal for the first joint module is generated based on the deflection amount corresponding to the first joint module. The motor of the first joint module is controlled to rotate according to the position compensation signal of the first joint module, so that the actual position of the output end of the first joint module returns to the theoretical position of the output end.

[0018] In one embodiment, the motor compensation rotation direction of the joint module is determined based on the actual position and theoretical position of the output end of each joint module, including:

[0019] Determine the actual and theoretical positions of the output ends of each joint module in the target quadrant of the module coordinate system corresponding to each joint module; the module coordinate system is established with the radial section facing the output flange of the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis.

[0020] Determine the compensation direction for each joint module based on the target quadrant;

[0021] The motor compensation rotation direction of each joint module is determined based on the compensation direction.

[0022] In one embodiment, determining the distribution of the actual and theoretical output positions of each joint module within the target quadrant of the module coordinate system corresponding to each joint module includes:

[0023] Based on the torque of the joint module and the reduction ratio of the joint module, determine the first angle between the line connecting the theoretical position of the output end of the joint module and the center of the module coordinate system and the horizontal axis of the module coordinate system.

[0024] Based on the first angle and the deflection, determine the second angle between the actual position of the joint module's output end and the center of the module's coordinate system, and the horizontal axis of the module's coordinate system.

[0025] Based on the first angle and the second angle, the actual position and theoretical position of the output end of the joint module are determined to be distributed in the target quadrant of the module coordinate system.

[0026] In one embodiment, determining the compensation direction of each joint module based on the target quadrant includes:

[0027] If the target quadrant is in the first or fourth quadrant, the compensation direction of the joint module is determined to be counterclockwise.

[0028] If the target quadrant is in the second or third quadrant, the compensation direction of the joint module is determined to be clockwise.

[0029] In one embodiment, determining the motor compensation rotation direction of each joint module based on the compensation direction includes:

[0030] If the compensation direction is clockwise, then the motor compensation rotation direction of the joint module is determined to be the positive direction.

[0031] If the compensation direction is counterclockwise, then the motor compensation rotation direction of the joint module is determined to be negative.

[0032] Secondly, this application also provides a robotic arm torque control device. The device includes:

[0033] The acquisition module is used to acquire the rigidity coefficients of each joint module of the robotic arm;

[0034] The deflection determination module is used to determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm based on the torque and stiffness coefficient corresponding to each joint module.

[0035] The adjustment module is used to generate a position compensation signal based on the deflection amount of each joint module, and control the rotation of the motor of the joint module according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0036] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0037] Obtain the stiffness coefficients of each joint module of the robotic arm;

[0038] Based on the torque and stiffness coefficients of each joint module, determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm.

[0039] A position compensation signal is generated based on the deflection amount of each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0040] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0041] Obtain the stiffness coefficients of each joint module of the robotic arm;

[0042] Based on the torque and stiffness coefficients of each joint module, determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm.

[0043] A position compensation signal is generated based on the deflection amount of each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0044] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0045] Obtain the stiffness coefficients of each joint module of the robotic arm;

[0046] Based on the torque and stiffness coefficients of each joint module, determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm.

[0047] A position compensation signal is generated based on the deflection amount of each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0048] The aforementioned robotic arm torque control device, computer equipment, and storage medium determine the deflection between the actual and theoretical output positions of each joint module based on the torque and rigidity of each joint module. A position compensation signal is generated based on the deflection of each joint module, and the motors of the joint modules are rotated according to the position compensation signal, causing the outputs of each joint module to return to their theoretical output positions. In this method, by determining the deflection between the actual and theoretical output positions of the joint modules due to insufficient rigidity, generating a position compensation signal based on the deflection, and performing compensation based on the position compensation signal, the outputs of each joint module return to their theoretical output positions, thereby improving the positional accuracy of the robotic arm. Attached Figure Description

[0049] Figure 1 This is an application environment diagram of the robotic arm torque control method in one embodiment;

[0050] Figure 2 This is a flowchart illustrating the torque control method for a robotic arm in one embodiment;

[0051] Figure 3 This is a schematic cross-sectional view of the joint module of the robotic arm in one embodiment;

[0052] Figure 4 An assembly diagram of the joint module of the robotic arm in another embodiment;

[0053] Figure 5 This is a functional block diagram of a joint module in one embodiment;

[0054] Figure 6 This is a schematic diagram of the robotic arm in a proper mounting scenario in one embodiment;

[0055] Figure 7 This is a left view of the robotic arm in a standard configuration scenario in one embodiment;

[0056] Figure 8 This is a simplified left view of the first joint module of the robotic arm in a formal scenario in one embodiment;

[0057] Figure 9 This is a simplified left view of the first and second joint modules of the robotic arm in a standard configuration scenario in one embodiment.

[0058] Figure 10 This is a flowchart of the compensation process for a single-joint module in one embodiment;

[0059] Figure 11 This is a flowchart of the compensation process for a multi-joint module in one embodiment;

[0060] Figure 12This is a schematic diagram of the process for obtaining the stiffness coefficients of each joint module of a robotic arm in one embodiment;

[0061] Figure 13 This is a simulation diagram of the output link in the joint module of one embodiment;

[0062] Figure 14 This is a simulation flowchart of the output link in the joint module of one embodiment;

[0063] Figure 15 This is a test platform for the stiffness coefficient of a joint module in one embodiment;

[0064] Figure 16 This is a flowchart of the test procedure for the stiffness coefficient of the joint module in one embodiment;

[0065] Figure 17 This is a flowchart of controlling the motor rotation of a joint module according to the deflection amount corresponding to each joint module in one embodiment.

[0066] Figure 18 This is a flowchart illustrating the process of determining the motor-compensated rotation direction of a joint module in one embodiment.

[0067] Figure 19 This is a schematic diagram of the compensation direction corresponding to each quadrant in the module coordinate system in one embodiment;

[0068] Figure 20 This is a schematic diagram of a side-mounted robotic arm in one embodiment;

[0069] Figure 21 This is a schematic diagram of an inverted robotic arm in one embodiment;

[0070] Figure 22 This is a simplified structural diagram of the second and third joint modules in both upright and inverted configurations of the robotic arm in one embodiment.

[0071] Figure 23 This is a flowchart illustrating the distribution of the actual and theoretical output positions of each joint module in the target quadrant of the module coordinate system corresponding to each joint module, as described in one embodiment.

[0072] Figure 24 A flowchart of the most complete embodiment in one example;

[0073] Figure 25 This is a structural block diagram of the robotic arm torque control device in one embodiment;

[0074] Figure 26 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0075] 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.

[0076] The robotic arm torque control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, computer device 102 obtains the stiffness coefficients of each joint module of the robotic arm through simulation or actual measurement. Based on the torque and stiffness coefficients of each joint module, computer device 102 determines the deflection between the actual and theoretical output positions of each joint module. Computer device 102 generates position compensation signals based on the deflection of each joint module and controls the motors of the joint modules to rotate, so that the actual output position of each joint module returns to its theoretical output position. Computer device 102 communicates with server 104 via a network. Computer device 102 can be, but is not limited to, various robot control terminals, personal computers, laptops, smartphones, tablets, and portable wearable devices. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster composed of multiple servers.

[0077] In one embodiment, such as Figure 2 As shown, a method for controlling the torque of a robotic arm is provided, which is applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0078] Step 202: Obtain the rigidity coefficients of each joint module of the robotic arm.

[0079] The robotic arm can be a robotic arm on a surgical robot, cleaning robot, industrial robot, or other similar machine. The joint modules of the robotic arm are connected in series via output links. The number of joint modules connected in series can be 3, 4, 6, or other numbers, and is not limited here. The stiffness coefficient is a fundamental physical quantity used to describe the elastic deformation behavior of the joint module under external force.

[0080] like Figure 3As shown, the joint module includes a motor 1, a reducer 2, a torque sensor 3, a position encoder 4, a brake 5, a fixed flange 6, an output flange 7, and a crossed roller bearing 8. The motor 1 can be a frameless torque motor, a servo motor, or other types of motor; the reducer 2 can be a harmonic reducer, a cycloidal reducer, a planetary reducer, or other types of reducer. The motor 1 and reducer 2 serve as transmission mechanisms, with the motor 1 providing power and the reducer 2 used for speed reduction and torque increase, employing harmonic, cycloidal, or planetary structures. The torque sensor 3 is installed at the output end of the joint module to detect the torque of the joint module and transmit it to the computer equipment. The crossed roller bearing 8 is used to withstand bending moments. The position encoder 4 includes a low-speed high-precision encoder and a high-speed high-precision encoder. The low-speed high-precision encoder is located on the low-speed output shaft side of the reducer and is used to detect the position and speed information at the output end of the joint module in real time; it is usually a single-turn or multi-turn absolute encoder. The high-speed high-precision encoder is installed on the motor shaft and is used to detect the position and speed information of the motor shaft in real time. Fixed flange 6 is the motor input; output flange 7 is the motor output. The motor's rotation is reduced in speed by a reducer, which then drives the output flange to rotate.

[0081] Assembly diagram of the joint module as follows Figure 4 As shown in the diagram. The functional module diagram of the joint module is as follows. Figure 5 As shown, the low-speed, high-precision encoder is used to detect the position and speed information at the module output in real time, and is mostly a single-turn or multi-turn absolute encoder; the brake device is used to lock the motor shaft in the event of a power failure to prevent uncontrollable rotation, and can also be used for braking in emergency situations. It can adopt a pin-type structure or a friction plate structure; the high-speed, high-precision encoder is installed on the motor shaft to detect the position and speed information of the motor shaft in real time; the servo motor provides power; the reducer is used to reduce speed and increase torque, and can adopt harmonic, cycloidal, or planetary structures; the torque sensor is installed at the output end to obtain the real-time torque at the output end.

[0082] Optionally, the computer equipment obtains the rigidity coefficients of each joint module of the robotic arm through simulation or actual measurement.

[0083] Step 204: Determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm based on the torque and stiffness coefficient corresponding to each joint module.

[0084] The robotic arm can be viewed as multiple joint modules connected in series, such as... Figure 6As shown, a typical robotic arm has a first joint module 11, a second joint module 12, a third joint module 13, a fourth joint module 14, a fifth joint module 15, and a sixth joint module 16. Some robotic arms also employ seven joint modules. Each joint module is typically equipped with a torque sensor, allowing real-time monitoring of the output torque information. The end effector of the robotic arm is usually connected to a passive attachment or gripping system. To reduce weight and rotational inertia, such robotic arms have relatively low rigidity. When a heavy object is loaded at the end effector, gravity causes a slight deflection, resulting in a loss of precision. This deflection is the angle between the actual and theoretical output positions of each joint module, or the arc length of the deflection. Based on the arc length and the length of the output link, the deflection angle between the actual and theoretical output positions of each joint module is determined, and compensation is applied to the joint modules accordingly.

[0085] A robotic arm can be viewed as a system of multiple joint modules connected in series, with each joint module linked via an output link. For example... Figure 6 As shown, compared to the lengths of the output links between other joint modules, the output links connecting the first joint module to the second joint module and the second joint module to the third joint module are longer, and are more significantly affected by gravitational torque. Therefore, their rigidity has the greatest impact on the positional accuracy of the end effector. This embodiment mainly considers the influence of the second and third joint modules. This embodiment analyzes this robotic arm as a system composed of two modules, such as... Figure 7 As shown, a load is applied to the end flange of the robotic arm. Torque sensors on each joint of the robotic arm can monitor the torque of the end load in real time. When a load is applied to the end of the robotic arm, the system assumes that the end of the robotic arm is still at the theoretical position A. However, since the robotic arm is a flexible system, the end flange will shift under the gravity of the load, causing the end flange to fall to the actual position B.

[0086] To be correct for Figure 7 Based on the output flange direction of the second joint module, the structure of the second joint module is simplified to obtain... Figure 8The diagram shows the structure of the second joint module. The joint module can be visualized as a cylinder, with the upper end facing the fixed flange and the lower end facing the output flange. The fixed flange of the joint module connects in the same direction as the fixed flanges of adjacent joint modules; therefore, the fixed flange of the joint module is not visible to the observer. The circle closer to the center of the concentric circles represents a simplified side view of the second joint module, while the circle farther from the center represents the motion trajectory of the output link end of the second shutdown module. Position A1 on the motion trajectory is the theoretical position of the output end of the second shutdown module, and position A2 is the actual position of the output end of the second joint module. Due to gravity, the actual position of the output end of the second shutdown module is always lower than the theoretical position. The angle between the line connecting the actual position A2 of the output end to the center of the concentric circles and the line connecting the theoretical position A1 of the output end to the center of the concentric circles represents the deflection of the second joint module. The ratio of the torque to the stiffness coefficient of the second joint module is equal to the deflection of the second joint module. ,Right now ,in, This indicates the torque of the second joint module. This represents the rigidity coefficient of the second joint module.

[0087] To be correct for Figure 7 Based on the output flange direction of the second joint module, a simplified structural diagram of the multi-module is established, resulting in... Figure 9 The diagram shows the structure of a multi-joint module. The output link of the second joint module connects to the third joint module, and the output link of the third joint module is loaded with a load. The deflection between the actual position A2 and the theoretical position A1 of the output end of the second joint module is shown. The deflection between the actual output position B2 and the theoretical output position B1 of the third joint module The ratio of the torque to the stiffness coefficient of the third joint module is equal to the deflection of the third joint module. ,Right now ,in, This indicates the torque of the second joint module. This represents the rigidity coefficient of the second joint module.

[0088] Optionally, the computer device detects the torque of each joint module through a torque sensor, and obtains the stiffness coefficient of each joint module through simulation or actual measurement. The ratio of the torque of each joint module to the stiffness coefficient is equal to the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm.

[0089] Step 206: Generate a position compensation signal based on the deflection amount of each joint module, and control the motor rotation of the joint module according to the position compensation signal so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0090] The position compensation signal is used to control the motor rotation of the joint module; the position compensation signal includes the motor compensation rotation direction and the angle required for the deflection amount corresponding to the rotation of the joint module.

[0091] In some embodiments, for position compensation of a single joint module, the specific compensation process is as follows: Figure 10 As shown, after obtaining the rigidity of each component of the single-joint module, the relevant parts are assembled together. At this time, the torque sensor needs to be calibrated to eliminate reading errors caused by the assembly process. Then, the module is loaded and run, controlling the motor of the single-joint module to rotate. During this process, the torque sensor can detect the torque at the output end of the single-joint module in real time. Finally, data processing is performed. By detecting the real-time torque from the torque sensor and the rigidity coefficient of the single-joint module, the deflection amount corresponding to the single-joint module is calculated. A position compensation signal is generated based on the deflection amount of the single-joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of the single-joint module returns to the theoretical position.

[0092] In some embodiments, the robotic arm can be viewed as a system composed of multiple modules, such as Figure 6 Viewing the robotic arm as a system composed of two joint modules, position compensation only needs to be performed on each module individually. For position compensation of multiple joint modules, the compensation method is the same for each joint module; the specific compensation process is as follows: Figure 11 As shown, the assembly, calibration, and loading operation of each joint module in the multi-joint module are the same. After obtaining the torque of each joint module, data processing is performed. The real-time torque of the torque sensor and the rigidity coefficient of the single joint module are detected to calculate the deflection of each shutdown module. A position compensation signal is generated based on the deflection of each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0093] Optionally, the computer device detects the torque of the load on the end of the robotic arm through the torque sensors of each joint module and feeds it back to the computer device. The computer device receives the feedback signal, calculates and fits the position compensation signal, and outputs it to the motor driver of each joint module. The motor driver controls the motor to rotate, and after being decelerated by the reducer, the deflection is compensated, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0094] The aforementioned robotic arm torque control method determines the deflection between the actual and theoretical output positions of each joint module based on the torque and stiffness coefficient of each joint module. A position compensation signal is generated based on the deflection of each joint module, and the motor rotation of the joint module is controlled according to the position compensation signal, causing the output of each joint module to return to its theoretical position. This method improves the positional accuracy of the robotic arm by determining the deflection between the actual and theoretical output positions of the joint modules due to insufficient stiffness coefficients, generating a position compensation signal based on the deflection, and performing compensation based on the position compensation signal, thus returning the output of each joint module to its theoretical position.

[0095] In one embodiment, such as Figure 12 As shown, the stiffness coefficients of each joint module of the robotic arm are obtained, including:

[0096] Step 1202: Obtain the first stiffness coefficient of the output end link of the joint module of the robotic arm, and the second stiffness coefficient of the joint module itself.

[0097] In this embodiment, the robotic arm can be viewed as a system of multiple joint modules connected in series, with each joint module linked via an output link. To improve the positional accuracy of the robotic arm, this embodiment obtains not only the second stiffness coefficient of the joint module itself, but also the first stiffness coefficient of the output link of the joint module. The first stiffness coefficient of the output link of the joint module, and the second stiffness coefficient of the joint module itself, can be obtained through simulation or actual measurement.

[0098] In some embodiments, the structural stiffness coefficient of the joint module of the robotic arm can be obtained through simulation. For example... Figure 13 The diagram shown is a simulation schematic of the output end linkage structure of the joint module. One end of the output end linkage is fixed, and a gravitational force F is applied at the distal end of the output end linkage at a distance L from the rotation center to simulate the load applied to the end of the output end linkage. The specific simulation test procedure is as follows: Figure 14 As shown, the simulation model will be imported into the simulation software, a mesh will be generated in the simulation structure of the output link structure, constraints and loads will be added to both the simulation model and the simulation structure of the output link structure, and simulation calculations will be performed to finally obtain the angular displacement of the far end of the output link. Based on the simulation data, the first stiffness coefficient of the output end connecting rod can be derived as follows: ,in, This is the first stiffness coefficient of the output connecting rod.

[0099] In some embodiments, for key components in the joint module of a robotic arm, such as reducers and torque sensors, the internal structure is complex, making it difficult and prone to error to obtain their stiffness coefficients through simulation. Therefore, a test platform can be built to perform actual stiffness coefficient measurements, facilitating the acquisition of accurate stiffness coefficients. Figure 15 For the test platform, horizontal installation allows for negligible influence of the linkage's own weight, such as... Figure 16 As shown, by applying a load force F to the end L of the connecting rod, the connecting rod can be made of a material or structure with high rigidity, and the angular displacement at L can be obtained using a position sensor. The structural rigidity of the tested equipment can then be deduced, that is... .

[0100] Optionally, the computer equipment obtains the first stiffness coefficient of the output end link of the joint module of the robotic arm through simulation, and obtains the second stiffness coefficient of the joint module itself through actual measurement.

[0101] Step 1204: Determine the rigidity coefficient of each joint module of the robotic arm based on the first rigidity coefficient and the second rigidity coefficient.

[0102] In this implementation, only the rigidity coefficient of the shutdown module itself is considered, including the rigidity coefficient of the torque sensor and the rigidity coefficient of the reducer. Therefore, the rigidity coefficients of each joint module satisfy the following relationship:

[0103] ;

[0104] in, This represents the overall rigidity coefficient of the joint module. , , These represent the rigidity coefficients of the reducer, the torque sensor, and the output connecting rod, respectively.

[0105] In this embodiment, by obtaining the first rigidity coefficient of the output end link of the joint module of the robotic arm and the second rigidity coefficient of the joint module itself, the rigidity coefficient of each joint module of the robotic arm is determined based on the first rigidity coefficient and the second rigidity coefficient. This integrates the multiple rigidity coefficients of the robotic arm, avoiding the problem of low positional accuracy of the robotic arm after compensation due to insufficient rigidity coefficient of the structural components of the robotic arm.

[0106] In one embodiment, such as Figure 17 As shown, a position compensation signal is generated based on the deflection amount corresponding to each joint module. The motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end, including:

[0107] Step 1702: Determine the motor compensation rotation direction of the joint module based on the actual position and theoretical position of the output end of each joint module.

[0108] Among them, the motor compensation rotation direction is the motor's rotation direction, with... Figure 8 Taking the structure shown as an example, Figure 8 The actual position of the output terminal of the joint module is lower than its theoretical position. Therefore, the actual position of the joint module's output terminal requires a counter-clockwise rotation of the joint module to return it to its theoretical position. In other words, the compensation direction is counter-clockwise. While the compensation direction may be clockwise in other positions, the clockwise or counter-clockwise direction corresponding to the compensation direction is not necessarily the motor's rotation direction. Furthermore, the joint module's motor rotates according to a preset positive or negative direction, and clockwise or counter-clockwise rotation cannot be recognized by the joint module's motor. For example, if the preset positive direction of the motor is counter-clockwise and the preset negative direction is clockwise, and the compensation direction is determined to be counter-clockwise based on the actual and theoretical positions of the joint module's output terminal, then according to the relationship between the compensation direction and the motor's preset rotation direction, the motor should rotate in the positive direction.

[0109] Optionally, the computer device determines the compensation direction of rotation required to return the actual output position of the joint module to the theoretical output position based on the actual position and theoretical output position of each joint module. Based on the relationship between the compensation direction and the preset rotation direction of the joint module's motor, the computer device determines the compensation rotation direction of the joint module's motor.

[0110] Step 1704: Generate a position compensation signal based on the motor's compensated rotation direction and deflection amount.

[0111] The position compensation signal is used to control the motor rotation of the joint module. The position compensation signal includes the motor's compensated rotation direction and the angle required for the deflection amount corresponding to the joint module's rotation. The required motor rotation angle can be obtained from the relationship between the deflection amount and the motor rotation angle, which can be obtained from a mapping table of motor rotation angles or determined by calculating the motor rotation angle.

[0112] Optionally, the computer device obtains the required rotation angle of the motor based on the relationship between the deflection amount and the motor rotation angle, and generates a position compensation signal based on the motor compensation rotation direction and the required rotation angle of the motor, which is used to control the motor of the joint module to rotate in the motor compensation rotation direction.

[0113] Step 1706: Control the motor rotation of the joint module according to the position compensation signal so that the output end of each joint module returns to the theoretical position of the output end.

[0114] Optionally, the computer device detects the torque of the load on the end of the robotic arm through the torque sensors of each joint module and feeds it back to the computer device. Upon receiving the feedback signal, the computer device generates a position compensation signal based on the motor compensation rotation direction and deflection amount, and outputs it to the motor driver of each joint module. The motor driver controls the motor to rotate, and after deceleration by the reducer, the deflection amount is compensated, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0115] In this embodiment, by determining the actual position of the output end of each joint module as the compensation direction for returning to the theoretical position of the output end based on the actual position and theoretical position of the output end of each joint module, the compensation rotation direction of the motor of the joint module is determined according to the relationship between the compensation direction and the preset rotation direction of the motor of the joint module. This ensures that the motor of the joint module can rotate in the correct motor compensation rotation direction under different installation methods of the robotic arm, so that the actual position of the output end of the joint module returns to the theoretical position of the output end.

[0116] In one embodiment, such as Figure 18 As shown, based on the actual and theoretical positions of the output ends of each joint module, the motor compensation rotation direction of the joint module is determined, including:

[0117] Step 1802: Determine the actual and theoretical positions of the output ends of each joint module in the target quadrant of the module coordinate system corresponding to each joint module. The module coordinate system is established with the radial section of the output flange facing the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis.

[0118] In the module coordinate system, the horizontal and vertical axes divide the coordinate plane into four regions, each called a quadrant. The region bounded by the positive directions of the horizontal and vertical axes is the first quadrant; the region bounded by the negative directions of the horizontal and vertical axes is the second quadrant; the region bounded by the negative directions of the horizontal and vertical axes is the third quadrant; and the region bounded by the positive directions of the horizontal and vertical axes is the fourth quadrant. The compensation direction corresponding to each quadrant in the module coordinate system is as follows: Figure 19 As shown.

[0119] The robotic arm can be mounted in three ways: side-mounted, upright, and inverted. A diagram of the upright mounting method is shown below. Figure 6 As shown, when the robotic arm is mounted upright, the second and third joint modules have the greatest impact on the positional accuracy of the end effector. Therefore, the influence of the second and third joint modules is mainly considered. A schematic diagram of the side-mounted configuration is shown below. Figure 20As shown, when the robotic arm is mounted on its side, the first joint module is most affected by the gravitational moment, while the main transmission components of the other joint modules are minimally affected by the gravitational moment. Therefore, the system stiffness calculation needs to consider the following: the stiffness of the first joint module system (including the reducer, torque sensor, output linkage, etc.). The system only needs to compensate for the stiffness of the first joint module. A schematic diagram of the inverted configuration is shown below. Figure 21 As shown, when the robotic arm is installed upside down, compensation can be performed on the second and third joint modules to restore the actual position of the end flange of the robotic arm. Therefore, in this embodiment, if the robotic arm is installed upright or upside down, position compensation signals for the second and third joint modules are generated based on the deflection amounts corresponding to the second and third joint modules. The motors of the second and third joint modules are then rotated according to these position compensation signals, so that the actual position of the output end of the second and third joint modules returns to the theoretical position. If the robotic arm is installed side-mounted, position compensation signals for the first joint module are generated based on the deflection amounts corresponding to the first joint module. The motors of the first joint module are then rotated according to these position compensation signals, so that the actual position of the output end of the first joint module returns to the theoretical position.

[0120] Because of different mounting methods for robotic arms, the target quadrants exist in the module coordinate systems established from different viewing directions for the same joint module. If no viewing direction is specified, the target quadrants determined by the established module coordinate systems will be different, leading to different motor rotation directions for the joint modules. Incorrect motor rotation directions will increase the positional deviation of the joint modules, resulting in lower positional accuracy of the robotic arm. Figure 6 Taking the second and third joint modules of the robotic arm in a standard mounting scenario as an example, after establishing the module coordinate system from the observation direction facing the output flange of the second joint module, as shown... Figure 22 As shown, the actual and theoretical positions of the output ends of the second joint module and the third shutdown module are in the second quadrant of the module coordinate system, and the compensation direction corresponding to the second quadrant is clockwise. Figure 6 The robotic arm in Figure 21 Invert the container as shown, from the front Figure 21 After establishing the module coordinate system based on the observation direction of the fixed flange of the second joint module, the actual position and theoretical position of the output end of the second joint module are both in the fourth quadrant of the module coordinate system. The compensation direction corresponding to the fourth quadrant is counterclockwise. Therefore, in this embodiment, the module coordinate system of each joint module is established facing the same position of the joint module. This ensures that regardless of whether the robotic arm is mounted upright, side-mounted, or inverted, the correct target quadrant can be determined, thereby determining the correct motor compensation rotation direction, so that the motor can compensate according to the correct motor compensation rotation direction.

[0121] It is important to note that the computer equipment's motor compensation rotation direction for the joint modules differs between upright and inverted robot arm installation scenarios. Therefore, the motor rotation direction must be carefully considered. Taking the direction directly opposite the output flange of the second joint module as an example, [the following steps are taken]. Figure 6 In the context of a robotic arm in full-body configuration, and Figure 21 The structures of the second and third joint modules in the inverted robot arm scenario are simplified to obtain the following: Figure 22 The diagram shows a simplified structure. If we establish a coordinate system for the second and third joint modules with the radial section of the output flange facing the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis, then in the upright installation mode, the second and third joint modules are located in the second quadrant of the second joint module, with the compensation direction clockwise; in the inverted installation mode, the second and third joint modules are located in the fourth quadrant of the second joint module, with the compensation direction counterclockwise. If we take the compensation direction in the upright installation scenario as the positive direction of the motor's compensation rotation direction, then the rotation direction of the motor in the inverted installation scenario is opposite to that in the upright installation scenario, rotating in the negative direction for compensation.

[0122] Optionally, the computer device determines the target joint module from multiple joint modules, establishes a module coordinate system with the radial section of the output flange facing the target joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis, and determines the target quadrant of the module coordinate system corresponding to the target joint module based on the distribution of the actual position and theoretical position of the output end of the target joint module.

[0123] Step 1804: Determine the compensation direction of each joint module based on the target quadrant.

[0124] The compensation direction differs from the motor compensation rotation direction. The motor compensation rotation direction is the direction of motor rotation, while the compensation direction is the direction of rotation of the end of the connecting rod at the output end of the joint module when the actual position of the output end returns to its theoretical position. Figure 8 Taking the structure shown as an example, Figure 8 The actual position of the output end of the joint module is lower than the theoretical position. Therefore, the actual position of the output end of the joint module needs to be rotated counterclockwise by the corresponding deflection amount to return to the theoretical position. In other words, the compensation direction is counterclockwise. At other positions, the compensation direction may be clockwise.

[0125] It should be noted that the compensation direction is not necessarily the same as the motor compensation rotation direction of the joint module, and the motor compensation rotation direction of the joint module is based on a preset positive or negative direction. Clockwise or counterclockwise directions cannot be recognized by the motor of the joint module.

[0126] The actual position of the joint module's output end is lower than its theoretical position, and the corresponding compensation differs in different target quadrants. For example, Figure 22 As shown, if the target quadrant is in the first or fourth quadrant, the compensation direction of the joint module is determined to be counterclockwise; if the target quadrant is in the second or third quadrant, the compensation direction of the joint module is determined to be clockwise.

[0127] Step 1806: Determine the motor compensation rotation direction of each joint module according to the compensation direction.

[0128] The motor compensation rotation direction includes a positive direction and a negative direction, and there is a mapping relationship between the motor compensation rotation direction and the compensation direction. For example, if the compensation direction is clockwise, the motor compensation rotation direction of the joint module is determined to be the positive direction; if the compensation direction is counterclockwise, the motor compensation rotation direction of the joint module is determined to be the negative direction.

[0129] In some embodiments, based on the motor structure of the joint module or the motor compensation rotation direction preset by the computer device, the mapping relationship between the motor compensation rotation direction and the compensation direction can also be: if the compensation direction is counterclockwise, then the motor compensation rotation direction of the joint module is determined to be positive; if the compensation direction is clockwise, then the motor compensation rotation direction of the joint module is determined to be negative.

[0130] Optionally, based on the mapping relationship between the motor compensation rotation direction and the compensation direction, the motor compensation rotation direction of each joint module is determined, and the motor of the joint module is controlled to rotate in accordance with the motor compensation rotation direction.

[0131] In this embodiment, the radial section of the output flange facing the joint module is used as the coordinate plane, the center of the radial section is used as the origin, the direction parallel to the ground is used as the horizontal axis, and the direction perpendicular to the ground is used as the vertical axis to establish the module coordinate system corresponding to each joint module. By specifying the module coordinate system established at the same position facing the joint module, the correct target quadrant can be guaranteed regardless of whether the robotic arm is mounted upright, side-mounted, or inverted. This ensures the correct motor compensation rotation direction, so that the motor can compensate according to the correct motor compensation rotation direction, avoiding the situation where the incorrect motor rotation direction increases the position deviation of the joint module, resulting in lower position accuracy of the robotic arm.

[0132] In one embodiment, such as Figure 23As shown, the actual and theoretical positions of the output ends of each joint module are determined within the target quadrant of the module coordinate system corresponding to each joint module, including:

[0133] Step 2302: Based on the torque of the joint module and the reduction ratio of the joint module, determine the first angle between the line connecting the theoretical position of the output end of the joint module and the center of the module coordinate system and the horizontal axis of the module coordinate system.

[0134] Among them, such as Figure 8 As shown, the first angle is the theoretical rotation angle at the output end of the joint module. The first angle is equal to the ratio of the torque of the joint module to the reduction ratio, i.e. ,in, Indicates the first angle; Indicates the reduction ratio of the joint module; This indicates the torque of the joint module.

[0135] Step 2304: Based on the first angle and the deflection, determine the second angle between the actual position of the joint module's output end and the center line of the module coordinate system and the horizontal axis of the module coordinate system.

[0136] Among them, such as Figure 8 As shown, the second angle is the actual rotation angle of the joint module's output end. The second rotation angle is equal to the difference between the theoretical rotation angle of the output end and the deflection amount. ,in, Indicates the second angle; Indicates the stiffness coefficient of the joint module; This indicates the deflection amount of the joint module. If the joint module to be compensated is the second joint module, then... If the joint module to be compensated is the third joint module, then .

[0137] It is important to note that the deflection of the joint module is generally determined by the difference between the theoretical and actual motor rotation angles. The actual motor rotation angle is obtained by calculating the motor torque or speed measured by a torque sensor or encoder. This method of calculating the actual motor rotation angle is inaccurate and cannot achieve precise compensation. In addition, this method does not take into account the actual position deviation of the robotic arm's end effector due to gravity and insufficient rigidity, and cannot solve the problem of position deviation caused by gravity and insufficient rigidity.

[0138] Step 2306: Based on the first angle and the second angle, determine that the actual position and theoretical position of the output end of the joint module are respectively distributed in the target quadrant of the module coordinate system.

[0139] Optionally, the computer equipment marks the actual position and theoretical position of the output end of the joint module on the module coordinate system according to the first angle and the second angle, and determines that the actual position and theoretical position of the output end of the joint module are respectively distributed in the target quadrant of the module coordinate system.

[0140] In this embodiment, the difference between the theoretical rotation angle and the deflection amount at the output end of the joint module determines the actual rotation angle at the output end of the joint module, which can improve the calculation accuracy of the actual rotation angle at the output end of the joint module, achieve the purpose of accurate compensation, and take into account the actual position deviation of the end of the robotic arm caused by gravity and insufficient rigidity coefficient, thus solving the problem of position deviation caused by gravity and insufficient rigidity coefficient.

[0141] In one embodiment, the most detailed method for providing the torque control method for the robotic arm is provided, such as... Figure 24 As shown, it specifically includes:

[0142] Step 2402: Obtain the first stiffness coefficient of the output end link of the joint module of the robotic arm, and the second stiffness coefficient of the joint module itself.

[0143] Step 2404: Determine the rigidity coefficient of each joint module of the robotic arm based on the first rigidity coefficient and the second rigidity coefficient.

[0144] Step 2406: Determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm based on the torque and stiffness coefficient corresponding to each joint module.

[0145] Step 2408: Based on the torque of the joint module and the reduction ratio of the joint module, determine the first angle between the line connecting the theoretical position of the output end of the joint module and the center of the module coordinate system and the horizontal axis of the module coordinate system; the module coordinate system is a coordinate system established with the radial section facing the output flange of the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis.

[0146] Step 2410: Based on the first angle and the deflection, determine the second angle between the actual position of the joint module's output end and the center of the module coordinate system, and the horizontal axis of the module coordinate system.

[0147] Step 2412: Based on the first angle and the second angle, determine that the actual position and theoretical position of the output end of the joint module are respectively distributed in the target quadrant of the module coordinate system.

[0148] Step 2414: Determine the compensation direction of each joint module according to the target quadrant. If the target quadrant is in the first or fourth quadrant, the compensation direction of the joint module is determined to be counterclockwise, and step 2416 is executed. If the target quadrant is in the second or third quadrant, the compensation direction of the joint module is determined to be clockwise, and step 2418 is executed.

[0149] Step 2416: Determine that the motor compensation rotation direction of the joint module is negative, and proceed to step 2420.

[0150] Step 2418: Determine that the motor compensation rotation direction of the joint module is positive, and proceed to step 2420.

[0151] Step 2420: Generate a position compensation signal based on the motor's compensated rotation direction and deflection amount;

[0152] Step 2422: Control the motor rotation of the joint module according to the position compensation signal so that the output end of each joint module returns to the theoretical position of the output end.

[0153] In this embodiment, the absolute position accuracy of the end flange of the serial robot is improved by detecting the output torque of the joint module using a torque sensor, making the end-effector positioning of the robotic arm more accurate and safer.

[0154] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0155] Based on the same inventive concept, this application also provides a robotic arm torque control device for implementing the robotic arm torque control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the robotic arm torque control device provided below can be found in the limitations of the robotic arm torque control method described above, and will not be repeated here.

[0156] In one embodiment, such as Figure 25As shown, a robotic arm torque control device is provided, comprising: an acquisition module 100, a deflection determination module 200, and an adjustment module 300, wherein:

[0157] The acquisition module 100 is used to acquire the rigidity coefficients of each joint module of the robotic arm.

[0158] The deflection determination module 200 is used to determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm based on the torque and stiffness coefficient corresponding to each joint module.

[0159] The adjustment module 300 is used to generate a position compensation signal based on the deflection amount of each joint module, and control the motor rotation of the joint module according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end.

[0160] In one embodiment, the acquisition module 100 is further configured to: acquire a first stiffness coefficient of the output end link of the joint module of the robotic arm, and a second stiffness coefficient of the joint module itself;

[0161] The rigidity coefficients of each joint module of the robotic arm are determined based on the first rigidity coefficient and the second rigidity coefficient.

[0162] In one embodiment, the adjustment module 300 is further configured to: determine the motor compensation rotation direction of the joint module based on the actual position and theoretical position of the output end of each joint module;

[0163] A position compensation signal is generated based on the motor's compensated rotation direction and deflection amount;

[0164] The motors of the joint modules are controlled to rotate according to the position compensation signal, so that the output end of each joint module returns to its theoretical position.

[0165] In one embodiment, the adjustment module 300 is further configured to: determine the actual position and theoretical position of the output end of each joint module in the target quadrant of the module coordinate system corresponding to each joint module; the module coordinate system is a coordinate system established with the radial section facing the output flange of the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis.

[0166] Determine the compensation direction for each joint module based on the target quadrant;

[0167] The motor compensation rotation direction of each joint module is determined based on the compensation direction.

[0168] In one embodiment, the adjustment module 300 is further configured to: determine a first angle between the line connecting the theoretical position of the output end of the joint module and the center of the module coordinate system and the horizontal axis of the module coordinate system, based on the torque of the joint module and the reduction ratio of the joint module;

[0169] Based on the first angle and the deflection, determine the second angle between the actual position of the joint module's output end and the center of the module's coordinate system, and the horizontal axis of the module's coordinate system.

[0170] Based on the first angle and the second angle, the actual position and theoretical position of the output end of the joint module are determined to be distributed in the target quadrant of the module coordinate system.

[0171] In one embodiment, the adjustment module 300 is further configured to: if the target quadrant is in the first quadrant or the fourth quadrant, determine that the compensation direction of the joint module is counterclockwise.

[0172] If the target quadrant is in the second or third quadrant, the compensation direction of the joint module is determined to be clockwise.

[0173] In one embodiment, the adjustment module 300 is further configured to: if the compensation direction is clockwise, determine that the motor compensation rotation direction of the joint module is positive;

[0174] If the compensation direction is counterclockwise, then the motor compensation rotation direction of the joint module is determined to be negative.

[0175] Each module in the aforementioned robotic arm torque 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 computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0176] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 25As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for controlling the torque of a robotic arm. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0177] Those skilled in the art will understand that Figure 25 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0178] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0179] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0180] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0181] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0182] Those skilled in the art will understand that all or part of the processes in 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 described above. 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.

[0183] 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.

[0184] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot arm torque control method characterized by, The method includes: Obtain the stiffness coefficients of each joint module of the robotic arm; Based on the torque corresponding to each joint module and the stiffness coefficient, determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm; A position compensation signal is generated based on the deflection amount corresponding to each joint module, and the motor of the joint module is controlled to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end. The step of generating a position compensation signal based on the deflection amount corresponding to each joint module, and controlling the motor rotation of the joint module based on the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end, includes: The motor compensation rotation direction of each joint module is determined based on the actual position and theoretical position of the output end of each joint module. A position compensation signal is generated based on the motor's compensated rotation direction and the deflection amount; The motors of the joint modules are rotated according to the position compensation signal, so that the output ends of each joint module return to their theoretical output end positions. The step of determining the motor compensation rotation direction of the joint module based on the actual position and theoretical position of the output end of each joint module includes: Based on the actual position and theoretical position of the output end of each joint module, the actual position of the output end of the joint module is determined as the compensation direction of the rotation required to return to the theoretical position of the output end; The motor compensation rotation direction of the joint module is determined based on the relationship between the compensation direction and the preset rotation direction of the motor of the joint module; the motor rotation of the joint module is performed in a preset positive or negative direction.

2. The method of claim 1, wherein, The process of obtaining the stiffness coefficients of each joint module of the robotic arm includes: Obtain the first stiffness coefficient of the output end link of the joint module of the robotic arm, and the second stiffness coefficient of the joint module itself; Based on the first rigidity coefficient and the second rigidity coefficient, the rigidity coefficient of each joint module of the robotic arm is determined.

3. The method of claim 1, wherein, The robotic arm includes a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, and a sixth joint module connected sequentially via output links. If the robotic arm is installed in a forward or inverted manner, position compensation signals for the second and third joint modules are generated based on the deflection amounts corresponding to the second and third joint modules. The motors of the second and third joint modules are controlled to rotate based on the position compensation signals, so that the actual position of the output end of the second and third joint modules returns to the theoretical position of the output end. If the robotic arm is installed in a side-mounted manner, a position compensation signal for the first joint module is generated based on the deflection amount corresponding to the first joint module. The motor of the first joint module is controlled to rotate according to the position compensation signal of the first joint module, so that the actual position of the output end of the first joint module returns to the theoretical position of the output end.

4. The method of claim 1, wherein, The step of determining the motor compensation rotation direction of the joint module based on the actual position and theoretical position of the output end of each joint module includes: The actual and theoretical positions of the output ends of each joint module are determined to be distributed in the target quadrant of the module coordinate system corresponding to each joint module. The module coordinate system is established with the radial section facing the output flange of the joint module as the coordinate plane, the center of the radial section as the origin, the direction parallel to the ground as the horizontal axis, and the direction perpendicular to the ground as the vertical axis. The compensation direction of each joint module is determined based on the target quadrant. The motor compensation rotation direction of each joint module is determined based on the compensation direction.

5. The method of claim 1, wherein, The deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm is the ratio of the torque of each joint module to the stiffness coefficient.

6. The method of claim 4, wherein, The actual position of the output end of the joint module is lower than the theoretical position of the output end; Determining the compensation direction of each joint module according to the target quadrant includes: If the target quadrant is in the first quadrant or the fourth quadrant, then the compensation direction of the joint module is determined to be counterclockwise. If the target quadrant is in the second or third quadrant, then the compensation direction of the joint module is determined to be clockwise.

7. The method of claim 6, wherein, There is a mapping relationship between the motor's compensated rotation direction and the compensated direction; Determining the motor compensation rotation direction of each joint module based on the compensation direction includes: If the compensation direction is clockwise, then the motor compensation rotation direction of the joint module is determined to be the positive direction; If the compensation direction is counterclockwise, then the motor compensation rotation direction of the joint module is determined to be negative.

8. The method of claim 1, wherein, The joint modules of the robotic arm are connected in series via output links; torque sensors are installed at the output end of the joint modules to detect the torque of the corresponding joint modules and transmit the torque to the computer equipment.

9. A mechanical arm torque control device characterized by comprising: The device includes: The acquisition module is used to acquire the rigidity coefficients of each joint module of the robotic arm; The deflection determination module is used to determine the deflection between the actual position and the theoretical position of the output end of each joint module of the robotic arm based on the torque corresponding to each joint module and the stiffness coefficient. An adjustment module is used to generate a position compensation signal according to the deflection amount of each joint module, and control the motor of the joint module to rotate according to the position compensation signal, so that the actual position of the output end of each joint module returns to the theoretical position of the output end. The adjustment module is further configured to determine the motor compensation rotation direction of the joint module based on the actual position and theoretical position of the output end of each joint module; generate a position compensation signal based on the motor compensation rotation direction and the deflection amount; and control the motor rotation of the joint module based on the position compensation signal so that the output end of each joint module returns to the theoretical position of the output end. The adjustment module is further configured to determine, based on the actual position and theoretical position of the output end of each joint module, the compensation direction required for the actual position of the output end of the joint module to return to the theoretical position of the output end; and to determine the motor compensation rotation direction of the joint module based on the relationship between the compensation direction and the preset rotation direction of the motor of the joint module; the motor rotation of the joint module is performed in a preset positive or negative direction. 10.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-9. When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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