Method and device for determining a point of a standard beat of a robot, and robot

Abstract

This invention provides a method, device, and robot for determining the position of a robot's standard beat, belonging to the field of robot technology. The method for determining the position of a robot's standard beat includes: acquiring N initial positions, where all N initial positions are located within the robot's workspace, and N is a positive integer greater than 1; determining N operability degrees corresponding one-to-one with the N initial positions; and determining a target position from the N initial positions based on the N operability degrees.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method, apparatus, and robot for determining the position of a standard beat. Background Technology

[0002] In related technologies, for SCARA (Selective Compliance Assembly Robot Arm) robots and some small multi-axis robots, due to the high-speed and reciprocating requirements of their application scenarios, the performance of the robot is generally calibrated by the test results of the standard cycle. The standard cycle is specifically defined as the fastest time to complete a set of cyclic actions within the workspace. Therefore, it is necessary to calibrate the points of the standard cycle and control the robot to reach the points in sequence to complete the cyclic actions.

[0003] The selection of points for standard beats is usually done by random selection. Therefore, the selected points cannot be guaranteed to be suitable. As a result, the robot's motion trajectory when executing a standard beat based on randomly selected points is not the optimal trajectory, and the test results cannot truly reflect the robot's performance. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] Therefore, the first aspect of the present invention proposes a method for determining the position of a robot's standard beat.

[0006] A second aspect of the present invention provides a device for determining the position of a robot's standard beat.

[0007] A third aspect of the present invention provides a device for determining the position of a robot's standard beat.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] The fifth aspect of the present invention provides a computer program product.

[0010] The sixth aspect of the present invention provides a robot.

[0011] In view of this, a first aspect of the present invention provides a method for determining the position of a standard beat of a robot, comprising: acquiring N initial positions, wherein the N initial positions are all located within the robot's workspace, and N is a positive integer greater than 1; determining N operability degrees corresponding one-to-one with the N initial positions; and determining a target position among the N initial positions based on the N operability degrees.

[0012] In this technical solution, the standard cycle of the robot is a way to test the robot's performance. It is commonly used for performance testing of SCARA robots and some small multi-axis robots (such as small six-axis robots). Specifically, it includes multiple spatial points, which are points within the robot's workspace.

[0013] During the test of running a standard beat, the robot is controlled to execute the standard beat, so that the robot moves to multiple spatial points of the standard beat in sequence. After the robot arrives at point 1 to point N in sequence from zero position, it is determined that the robot has completed one cycle of action. The fastest time for the robot to complete one cycle of action is the beat time of the standard beat. It can be understood that the shorter the beat time, the higher the performance of the robot.

[0014] Therefore, standard beat testing is an important means of calibrating robot performance. The selection of points within the standard beat significantly affects the test results. Inappropriate point selection can severely impact robot performance, thus affecting the test results and preventing the standard beat test from accurately representing the robot's performance.

[0015] In order to accurately select the appropriate standard beat points, this embodiment of the application determines N initial points in the robot's workspace. These N initial points can be randomly selected, obtained by traversing all points in the robot's workspace, or obtained by traversing all points in the robot's workspace and then filtering them according to preset filtering conditions. The preset filtering conditions can be that the distance between the selected points is greater than a preset distance, etc. This embodiment of the application does not limit this.

[0016] After obtaining N initial points, the operability of each initial point is further determined, and the operability corresponding to each initial point is obtained, resulting in a total of N operability values.

[0017] Among them, operability is a robot flexibility index that can comprehensively measure the robot's joint movement capability in various directions, thereby assessing the overall flexibility of the beam robot.

[0018] By determining the robot's maneuverability at a given spatial location, if the robot's maneuverability meets the requirements at an initial location, then that initial location is deemed suitable as a standard beat. If the robot's maneuverability does not meet the requirements at an initial location, then that initial location is deemed unsuitable for generating a standard beat.

[0019] Using the above method, several optimal points are selected from N initial points as target points. These optimal target points are used to generate the robot's standard beat, enabling the robot to complete the test with a better motion trajectory when performing standard beat testing. Moreover, the selection process for these optimal target points only requires determining the operability of the points, without actually building a test environment or controlling the robot to actually perform standard beat testing. The suitability of the selected points is judged based on the test results. Therefore, it can efficiently find suitable points as standard beats and optimize the efficiency of standard beat calibration.

[0020] This application embodiment determines whether a selected point is an optimal point based on its operability, thereby identifying suitable points within the robot's workspace as standard beats. This process does not require building a real test environment and can efficiently determine the points required for standard beats. As a result, the robot can run on the optimal trajectory when operating standard beats, ensuring accurate test results that truly reflect the robot's performance.

[0021] In addition, the method for determining the position of the standard beat in the above-mentioned technical solution provided by the present invention may also have the following additional technical features:

[0022] In the above technical solution, N operability degrees are determined one-to-one with N initial points, including: obtaining the link length of the robot; determining the angle between the link and the zero point when the link moves to the first initial point; determining the operability degree of the first initial point based on the link length and the angle; and repeating to obtain N operability degrees.

[0023] In this technical solution, when determining the operability of each initial point, the operability can be calculated based on the length of the robot link and the angle between the robot link and the zero point when it moves to the corresponding initial point. The zero point is the initial position of the link, which can be calibrated by engineers after the robot is installed. Essentially, each link of the robot corresponds to a zero point.

[0024] Taking a robot consisting of two links as an example, let's illustrate this with link L1 and link L2. In a Cartesian coordinate system, the horizontal velocity of the link is... The velocity of the connecting rod in the vertical direction is pass and To express operability as:

[0025]

[0026] in, and For operability, L1 is the length of link L1, L2 is the length of link L2, and θ1 is the angle between link L1 and the zero position. Let θ1 be the velocity component along the included angle, and θ2 be the angle between link L2 and the zero point position. The velocity component is located in the direction of the included angle θ2.

[0027] Using the above method, the operability corresponding to an initial point can be accurately calculated. For N initial points, the operability corresponding to all N initial points can be determined by repeating the calculation N times.

[0028] This application calculates the operability of each initial point and selects the optimal target point from all N initial points based on the operability as the point of the standard beat. This process does not require an actual testing environment, which can improve the efficiency of obtaining the optimal standard beat. At the same time, the robot is tested using the optimal standard beat, so that the test results can accurately express the robot's performance and improve the test accuracy.

[0029] In any of the above technical solutions, the N initial points include the starting point and ending point of the standard beat; determine the N operability corresponding one-to-one with the N initial points, including: determining the starting operability corresponding to the starting point and the ending operability corresponding to the ending point.

[0030] In this technical solution, a standard beat includes at least one starting point and at least one ending point. The robot moves from the zero point to the starting point and then from the starting point to the ending point, thus determining that the robot has completed one cycle of a standard beat.

[0031] It is understood that a standard beat may also include one or more intermediate points. Assuming the starting point is point 1 and the ending point is point N, the intermediate points may include point 2, point 3, ..., point N-1. This application does not limit this.

[0032] When determining the operability of N initial points, the corresponding starting operability is determined for the starting point and the corresponding ending operability is determined for the ending point. Based on the operability, the target points including the starting point and the ending point are determined, and the final standard beat is obtained.

[0033] It is understandable that any one of the N initial points can be either the starting point or the ending point. When selecting a point, you can choose any one of the N initial points as the starting point, and choose one of the remaining N-1 initial points as the ending point.

[0034] The embodiments of this application determine the target point based on the operability of the starting point and the ending point, and finally obtain a suitable standard beat, which helps to improve the reliability and accuracy of robot standard beat testing.

[0035] In any of the above technical solutions, after determining the starting point operability and the ending point operability, the method further includes:

[0036] Determine the first major axis and first minor axis values ​​of the operability ellipsoid corresponding to the starting point operability, and the second major axis and second minor axis values ​​of the operability ellipsoid corresponding to the ending point operability; determine the starting point measurement value based on the quotient of the first major axis value and the first minor axis value; determine the ending point measurement value based on the quotient of the second major axis value and the second minor axis value.

[0037] In this technical solution, the geometric meaning of operability can be specifically defined as the product of the lengths of the axes of an ellipsoid, and is proportional to the volume of the ellipsoid. Therefore, the operability of a point can correspond to an operability ellipsoid.

[0038] Specifically, in a Cartesian coordinate system, the starting point and the ending point each correspond to an operability ellipsoid. The metric for a point is defined as the quotient of the major axis length and the minor axis length of the operability ellipsoid corresponding to that point.

[0039] For the starting point, first determine the lengths of the major and minor axes of the operability ellipsoid, denoted as the first major axis value Lmax1 and the first minor axis value Lmin1, respectively. Define the starting point's measurement value as the starting point measurement value r1, then r1 = Lmax1 ÷ Lmin1.

[0040] For the endpoint location, first determine the lengths of the major and minor axes of the endpoint operability ellipsoid, denoted as the second major axis value Lmax2 and the second minor axis value Lmin2, respectively. Define the endpoint location as the endpoint measurement value r2, then r2 = Lmax2 ÷ Lmin2.

[0041] This application uses the operability ellipsoid of a point to determine the measurement degree of a starting point and its corresponding ending point, thereby optimizing the selected points and quickly finding the optimal starting point and the optimal ending point, which is beneficial to improving the efficiency of calibrating the standard beat.

[0042] In any of the above technical solutions, based on N operability levels, the target point is determined from N initial points, including:

[0043] Calculate the average of the first starting point measurement value and the first ending point measurement value, where N initial points include the first starting point and the first ending point; repeat to obtain M average values, M = N × (N-1); determine the minimum value among the M average values, and the starting point and ending point corresponding to the minimum value are the target points.

[0044] In this technical solution, one point is randomly selected from N initial points as the first starting point, and one point is randomly selected from the remaining N-1 initial points as the second starting point. Specifically, taking the first starting point and the first ending point as a set of standard beat points as an example, the explanation is as follows:

[0045] After obtaining the first starting point measurement value and the first ending point measurement value, calculate the arithmetic mean of the measurement values ​​of this set of Cartesian points. Let the mean be R, then R = (r1 + r2) ÷ 2, where r1 is the first starting point measurement value and r2 is the second starting point measurement value.

[0046] Calculate the average value corresponding to each combination of starting and ending points, and a total of N×(N-1)=M average values ​​can be calculated.

[0047] The optimization equations are established as follows:

[0048] min(R(x1,x2));

[0049] sub.to x1,x2∈X;

[0050] Where X is the robot's workspace, x1 is the operability of the first starting point, and x2 is the operability of the first ending point.

[0051] By optimizing the equation, the minimum value is found among all M average values. The starting and ending points corresponding to this minimum value are the optimal points, i.e., the target points.

[0052] This application embodiment calculates the average value of the measurement value of the starting point and the measurement value of the ending point, and judges whether the selected starting point and ending point are appropriate based on the average value. The set of starting point and ending point with the smallest average value is taken as the target point, which can ensure that the final standard beat test result of the robot can truly reflect the robot's performance and improve the accuracy of the standard beat test.

[0053] In any of the above technical solutions, before obtaining N initial points, the method further includes: establishing a dynamic model of the robot based on the robot's parameter information; and determining the workspace based on the dynamic model.

[0054] In this technical solution, the embodiments of this application establish a dynamic model corresponding to the robot, and perform optimization modeling based on the dynamic model, thereby accurately obtaining information such as the robot's workspace. There is no need to actually mount the robot in the environment, which facilitates the establishment of a Cartesian coordinate system. At the same time, the dynamic model has better mathematical and physical expressiveness, which can facilitate the optimization of robot movements and improve the calibration efficiency of standard beats.

[0055] In any of the above technical solutions, the parameter information includes: the length of the connecting rod and the mass of the connecting rod.

[0056] In this embodiment of the application, when establishing the dynamic model of the robot, the basic dynamic model of the robot is established by inputting the link length and link mass, which simplifies the robot into basic structures such as links and shafts, which is beneficial to improving efficiency.

[0057] In any of the above technical solutions, the point determination method further includes: determining the center point of the first tool based on the dynamic model; determining the center point of the second tool of the robot; and reconstructing the dynamic model if the center points of the first tool and the second tool do not match.

[0058] In this technical solution, after establishing the robot's dynamic model, the robot's dynamic model is verified. Specifically, the TCP (Tool Center Point) of the robot model is determined in the robot's dynamic model, denoted as the first tool center point, and the TCP of the actual robot is determined, denoted as the second tool center point.

[0059] If the center point of the first tool matches the center point of the second tool, it means that the robot dynamics model has been verified. At this time, the robot's workspace is determined according to the robot dynamics model, and the target point is selected for standard cycle calibration.

[0060] If the center point of the first tool does not match the center point of the second tool, it means that the robot dynamics model has not passed the verification and cannot accurately represent the actual situation of the robot. In this case, the dynamics model should be rebuilt until the rebuilt robot dynamics model passes the verification.

[0061] The embodiments of this application verify the established robot dynamics model to ensure that the established model can accurately represent the actual situation of the robot, thereby improving the accuracy and reliability of the scheme implementation and ensuring that the obtained standard cycle can accurately test the robot's performance.

[0062] In any of the above technical solutions, the location determination method also includes: determining the standard cycle time of the robot based on the target location.

[0063] In this technical solution, the operability of the initial point is used to determine whether the selected point is the optimal point. After determining the target point as the standard beat within the robot's workspace, the standard beat is determined based on the target point. The robot is then tested using this standard beat, which ensures that the robot runs on the optimal trajectory when running the standard beat. This ensures that the test results of the standard beat are accurate and that the test results truly reflect the robot's performance.

[0064] In any of the above technical solutions, the method for determining the location further includes: performing a simulator test on the standard beat to obtain the corresponding beat time; and, if the beat time is greater than the beat time threshold, re-determining the target location.

[0065] In this technical solution, after determining the optimal target location based on operability and determining the standard beat based on the target location, in order to avoid the optimal solution of the algorithm calculated through operability being inconsistent with the global optimal solution, this embodiment of the application performs simulator testing on the obtained standard beat. The actual beat time of the above-mentioned standard beat is obtained through simulator testing. If the actual beat time obtained is greater than the beat time threshold, it indicates that the optimal solution of the standard beat obtained by the algorithm does not match the optimal solution of the global standard beat. At this time, the process of determining the target location is re-executed according to the above method.

[0066] If the actual beat time achieved is less than or equal to the beat time threshold, it means that the current standard beat is valid, and the obtained standard beat can be retained.

[0067] The embodiments of this application verify the optimal solution of the standard beat obtained by the algorithm through simulator test results, which can avoid the situation where the optimal solution of the algorithm is inconsistent with the global optimal solution and improve the reliability of the test results of the standard beat.

[0068] A second aspect of the present invention provides a device for determining the position of a robot's standard beat, comprising:

[0069] The acquisition module is used to acquire N initial points, where all N initial points are located within the robot's workspace, and N is a positive integer greater than 1.

[0070] The determination module is used for:

[0071] Determine the N operability degrees that correspond one-to-one with the N initial points;

[0072] Based on N operability levels, determine the target point from among N initial points.

[0073] In this technical solution, the standard cycle of the robot is a way to test the robot's performance. It is commonly used for performance testing of SCARA robots and some small multi-axis robots (such as small six-axis robots). Specifically, it includes multiple spatial points, which are points within the robot's workspace.

[0074] During the test of running a standard beat, the robot is controlled to execute the standard beat, so that the robot moves to multiple spatial points of the standard beat in sequence. After the robot arrives at point 1 to point N in sequence from zero position, it is determined that the robot has completed one cycle of action. The fastest time for the robot to complete one cycle of action is the beat time of the standard beat. It can be understood that the shorter the beat time, the higher the performance of the robot.

[0075] Therefore, standard beat testing is an important means of calibrating robot performance. The selection of points within the standard beat significantly affects the test results. Inappropriate point selection can severely impact robot performance, thus affecting the test results and preventing the standard beat test from accurately representing the robot's performance.

[0076] In order to accurately select the appropriate standard beat points, this embodiment of the application determines N initial points in the robot's workspace. These N initial points can be randomly selected, obtained by traversing all points in the robot's workspace, or obtained by traversing all points in the robot's workspace and then filtering them according to preset filtering conditions. The preset filtering conditions can be that the distance between the selected points is greater than a preset distance, etc. This embodiment of the application does not limit this.

[0077] After obtaining N initial points, the operability of each initial point is further determined, and the operability corresponding to each initial point is obtained, resulting in a total of N operability values.

[0078] Among them, operability is a robot flexibility index that can comprehensively measure the robot's joint movement capability in various directions, thereby assessing the overall flexibility of the beam robot.

[0079] By determining the robot's maneuverability at a given spatial location, if the robot's maneuverability meets the requirements at an initial location, then that initial location is deemed suitable as a standard beat. If the robot's maneuverability does not meet the requirements at an initial location, then that initial location is deemed unsuitable for generating a standard beat.

[0080] Using the above method, several optimal points are selected from N initial points as target points. These optimal target points are used to generate the robot's standard beat, enabling the robot to complete the test with a better motion trajectory when performing standard beat testing. Moreover, the selection process for these optimal target points only requires determining the operability of the points, without actually building a test environment or controlling the robot to actually perform standard beat testing. The suitability of the selected points is judged based on the test results. Therefore, it can efficiently find suitable points as standard beats and optimize the efficiency of standard beat calibration.

[0081] This application embodiment determines whether a selected point is an optimal point based on its operability, thereby identifying suitable points within the robot's workspace as standard beats. This process does not require building a real test environment and can efficiently determine the points required for standard beats. As a result, the robot can run on the optimal trajectory when operating standard beats, ensuring accurate test results that truly reflect the robot's performance.

[0082] A third aspect of the present invention provides a device for determining the position of a robot's standard beat, comprising: a memory for storing programs or instructions; and a processor for executing the programs or instructions to implement the steps of the position determination method as proposed in any of the above technical solutions. Therefore, the device for determining the position of a robot's standard beat also includes all the beneficial effects of the position determination method as proposed in any of the above technical solutions, and will not be repeated here to avoid repetition.

[0083] A fourth aspect of the present invention provides a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implements the steps of the point determination method as proposed in any of the above-described technical solutions. Therefore, the readable storage medium also includes all the beneficial effects of the point determination method as proposed in any of the above-described technical solutions, and will not be repeated here to avoid repetition.

[0084] The fifth aspect of the present invention provides a computer program product stored in a storage medium, which, when executed by at least one processor, implements the steps of the point determination method as proposed in any of the above technical solutions. Therefore, the computer program product also includes all the beneficial effects of the point determination method as proposed in any of the above technical solutions, and will not be repeated here to avoid repetition.

[0085] A sixth aspect of the present invention provides a robot including a point determination device for the standard beat of the robot as provided in any of the above technical solutions; and / or a readable storage medium as provided in any of the above technical solutions. Therefore, the robot also includes all the beneficial effects of the point determination device for the standard beat of the robot as provided in any of the above technical solutions and / or the readable storage medium as provided in any of the above technical solutions. To avoid repetition, these will not be repeated here. Attached Figure Description

[0086] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0087] Figure 1 One of the flowcharts of a point determination method according to an embodiment of this application is shown;

[0088] Figure 2 A schematic diagram illustrating the operability calculation according to an embodiment of this application is shown;

[0089] Figure 3 A schematic diagram of a dynamic model according to an embodiment of this application is shown;

[0090] Figure 4 A second flowchart of a point determination method according to an embodiment of this application is shown;

[0091] Figure 5 One of the structural block diagrams of a point determination device according to an embodiment of this application is shown;

[0092] Figure 6 A second structural block diagram of a location determination device according to an embodiment of this application is shown. Detailed Implementation

[0093] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0094] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0095] The following reference Figures 1 to 6 This invention describes a method, apparatus, and robot for determining the position of a standard beat of a robot according to some embodiments thereof.

[0096] In some embodiments of the present invention, a method for determining the position of a robot's standard beat is provided. Figure 1 A flowchart of one of the point determination methods according to an embodiment of this application is shown in FIG1. ​​The method includes:

[0097] Step 102: Obtain N initial points;

[0098] All N initial points are located within the robot's workspace, where N is a positive integer greater than 1.

[0099] Step 104: Determine the N operability degrees that correspond one-to-one with the N initial points;

[0100] Step 106: Based on N operability levels, determine the target point from among the N initial points.

[0101] In this application embodiment, the standard cycle of the robot is a way to test the performance of the robot. It is commonly used for the performance testing of SCARA robots and some small multi-axis robots (such as small six-axis robots). Specifically, it includes multiple spatial points, which are points within the robot's workspace.

[0102] During the test of running a standard beat, the robot is controlled to execute the standard beat, so that the robot moves to multiple spatial points of the standard beat in sequence. After the robot arrives at point 1 to point N in sequence from zero position, it is determined that the robot has completed one cycle of action. The fastest time for the robot to complete one cycle of action is the beat time of the standard beat. It can be understood that the shorter the beat time, the higher the performance of the robot.

[0103] Therefore, standard beat testing is an important means of calibrating robot performance. The selection of points within the standard beat significantly affects the test results. Inappropriate point selection can severely impact robot performance, thus affecting the test results and preventing the standard beat test from accurately representing the robot's performance.

[0104] In order to accurately select the appropriate standard beat points, this embodiment of the application determines N initial points in the robot's workspace. These N initial points can be randomly selected, obtained by traversing all points in the robot's workspace, or obtained by traversing all points in the robot's workspace and then filtering them according to preset filtering conditions. The preset filtering conditions can be that the distance between the selected points is greater than a preset distance, etc. This embodiment of the application does not limit this.

[0105] After obtaining N initial points, the operability of each initial point is further determined, and the operability corresponding to each initial point is obtained, resulting in a total of N operability values.

[0106] Among them, operability is a robot flexibility index that can comprehensively measure the robot's joint movement capability in various directions, thereby assessing the overall flexibility of the beam robot.

[0107] By determining the robot's maneuverability at a given spatial location, if the robot's maneuverability meets the requirements at an initial location, then that initial location is deemed suitable as a standard beat. If the robot's maneuverability does not meet the requirements at an initial location, then that initial location is deemed unsuitable for generating a standard beat.

[0108] Using the above method, several optimal points are selected from N initial points as target points. These optimal target points are used to generate the robot's standard beat, enabling the robot to complete the test with a better motion trajectory when performing standard beat testing. Moreover, the selection process for these optimal target points only requires determining the operability of the points, without actually building a test environment or controlling the robot to actually perform standard beat testing. The suitability of the selected points is judged based on the test results. Therefore, it can efficiently find suitable points as standard beats and optimize the efficiency of standard beat calibration.

[0109] This application embodiment determines whether a selected point is an optimal point based on its operability, thereby identifying suitable points within the robot's workspace as standard beats. This process does not require building a real test environment and can efficiently determine the points required for standard beats. As a result, the robot can run on the optimal trajectory when operating standard beats, ensuring accurate test results that truly reflect the robot's performance.

[0110] Based on the above embodiments, N operability degrees corresponding one-to-one with N initial points are determined, including: obtaining the link length of the robot; determining the angle between the link and the zero point position when the link moves to the first initial point; determining the operability degree of the first initial point based on the link length and the angle; and repeating to obtain N operability degrees.

[0111] In this embodiment, when determining the operability of each initial point, the operability can be calculated based on the length of the robot link and the angle between the robot link and the zero point when it moves to the corresponding initial point. The zero point is the initial position of the link, which can be calibrated by an engineer after the robot is installed. It is understood that each link of the robot corresponds to a zero point.

[0112] Let's take a robot with two links as an example. The two links are denoted as link L1 and link L2. Figure 2 A schematic diagram illustrating the operability calculation according to an embodiment of this application is shown, such as... Figure 2 As shown, in the Cartesian coordinate system, the velocity of the link in the horizontal direction is... The velocity of the connecting rod in the vertical direction is pass and To express operability as:

[0113]

[0114] in, and For operability, L1 is the length of link L1, L2 is the length of link L2, and θ1 is the angle between link L1 and the zero position. Let θ1 be the velocity component along the included angle, and θ2 be the angle between link L2 and the zero point position. The velocity component is located in the direction of the included angle θ2.

[0115] Using the above method, the operability corresponding to an initial point can be accurately calculated. For N initial points, the operability corresponding to all N initial points can be determined by repeating the calculation N times.

[0116] This application calculates the operability of each initial point and selects the optimal target point from all N initial points based on the operability as the point of the standard beat. This process does not require an actual testing environment, which can improve the efficiency of obtaining the optimal standard beat. At the same time, the robot is tested using the optimal standard beat, so that the test results can accurately express the robot's performance and improve the test accuracy.

[0117] Based on any of the above embodiments, the N initial points include the starting point and ending point of the standard beat; determine the N operability corresponding one-to-one with the N initial points, including: determining the starting operability corresponding to the starting point and the ending operability corresponding to the ending point.

[0118] In the embodiments of this application, the standard beat includes at least one starting point and at least one ending point. After the robot moves from the zero point to the starting point and finally moves from the starting point to the ending point, it is determined that the robot has completed one cycle of the standard beat.

[0119] It is understood that a standard beat may also include one or more intermediate points. Assuming the starting point is point 1 and the ending point is point N, the intermediate points may include point 2, point 3, ..., point N-1. This application does not limit this.

[0120] When determining the operability of N initial points, the corresponding starting operability is determined for the starting point and the corresponding ending operability is determined for the ending point. Based on the operability, the target points including the starting point and the ending point are determined, and the final standard beat is obtained.

[0121] It is understandable that any one of the N initial points can be either the starting point or the ending point. When selecting a point, you can choose any one of the N initial points as the starting point, and choose one of the remaining N-1 initial points as the ending point.

[0122] The embodiments of this application determine the target point based on the operability of the starting point and the ending point, and finally obtain a suitable standard beat, which helps to improve the reliability and accuracy of robot standard beat testing.

[0123] Based on any of the above embodiments, after determining the start-point operability and the end-point operability, the method further includes:

[0124] Determine the first major axis and first minor axis values ​​of the operability ellipsoid corresponding to the starting point operability, and the second major axis and second minor axis values ​​of the operability ellipsoid corresponding to the ending point operability; determine the starting point measurement value based on the quotient of the first major axis value and the first minor axis value; determine the ending point measurement value based on the quotient of the second major axis value and the second minor axis value.

[0125] In this embodiment, the geometric meaning of operability can be specifically defined as the product of the lengths of the axes of an ellipsoid, and is proportional to the volume of the ellipsoid. Therefore, the operability of a point can correspond to an operability ellipsoid.

[0126] Specifically, in a Cartesian coordinate system, the starting point and the ending point each correspond to an operability ellipsoid. The metric for a point is defined as the quotient of the major axis length and the minor axis length of the operability ellipsoid corresponding to that point.

[0127] For the starting point, first determine the lengths of the major and minor axes of the operability ellipsoid, denoted as the first major axis value Lmax1 and the first minor axis value Lmin1, respectively. Define the starting point's measurement value as the starting point measurement value r1, then r1 = Lmax1 ÷ Lmin1.

[0128] For the endpoint location, first determine the lengths of the major and minor axes of the endpoint operability ellipsoid, denoted as the second major axis value Lmax2 and the second minor axis value Lmin2, respectively. Define the endpoint location as the endpoint measurement value r2, then r2 = Lmax2 ÷ Lmin2.

[0129] This application uses the operability ellipsoid of a point to determine the measurement degree of a starting point and its corresponding ending point, thereby optimizing the selected points and quickly finding the optimal starting point and the optimal ending point, which is beneficial to improving the efficiency of calibrating the standard beat.

[0130] Based on any of the above embodiments, according to N operability levels, the target point is determined from N initial points, including:

[0131] Calculate the average of the first starting point measurement value and the first ending point measurement value, where N initial points include the first starting point and the first ending point; repeat to obtain M average values, M = N × (N-1); determine the minimum value among the M average values, and the starting point and ending point corresponding to the minimum value are the target points.

[0132] In this embodiment, one point is randomly selected from N initial points as the first starting point, and one point is randomly selected from the remaining N-1 initial points as the second starting point. Specifically, taking the first starting point and the first ending point as a set of standard beat points as an example, the explanation is as follows:

[0133] After obtaining the first starting point measurement value and the first ending point measurement value, calculate the arithmetic mean of the measurement values ​​of this set of Cartesian points. Let the mean be R, then R = (r1 + r2) ÷ 2, where r1 is the first starting point measurement value and r2 is the second starting point measurement value.

[0134] Calculate the average value corresponding to each combination of starting and ending points, and a total of N×(N-1)=M average values ​​can be calculated.

[0135] The optimization equations are established as follows:

[0136] min(R(x1,x2));

[0137] sub.to x1,x2∈X;

[0138] Where X is the robot's workspace, x1 is the operability of the first starting point, and x2 is the operability of the first ending point.

[0139] By optimizing the equation, the minimum value is found among all M average values. The starting and ending points corresponding to this minimum value are the optimal points, i.e., the target points.

[0140] This application embodiment calculates the average value of the measurement value of the starting point and the measurement value of the ending point, and judges whether the selected starting point and ending point are appropriate based on the average value. The set of starting point and ending point with the smallest average value is taken as the target point, which can ensure that the final standard beat test result of the robot can truly reflect the robot's performance and improve the accuracy of the standard beat test.

[0141] Based on any of the above embodiments, before obtaining N initial points, the method further includes: establishing a dynamic model corresponding to the robot based on the robot's parameter information; and determining the workspace based on the dynamic model.

[0142] In the embodiments of this application, Figure 3 A schematic diagram of a dynamic model according to an embodiment of this application is shown, such as... Figure 3 As shown, this application embodiment establishes a dynamic model corresponding to the robot, and performs optimization modeling based on the dynamic model, thereby accurately obtaining information such as the robot's workspace. It does not require the actual environment in which the robot is mounted, making it easy to establish a Cartesian coordinate system. At the same time, the dynamic model has better mathematical and physical expressiveness, which can facilitate the optimization of robot movements and improve the calibration efficiency of standard beats.

[0143] Based on any of the above embodiments, the parameter information includes: link length and link mass.

[0144] In this embodiment of the application, when establishing the dynamic model of the robot, the basic dynamic model of the robot is established by inputting the link length and link mass, which simplifies the robot into basic structures such as links and shafts, which is beneficial to improving efficiency.

[0145] Based on any of the above embodiments, the point determination method further includes: determining the first tool center point according to the dynamic model; determining the second tool center point of the robot; and reconstructing the dynamic model if the first tool center point and the second tool center point do not match.

[0146] In this embodiment of the application, after establishing the robot's dynamic model, the robot's dynamic model is verified. Specifically, the TCP (Tool Center Point) of the robot model is determined in the robot dynamic model, denoted as the first tool center point, and the TCP of the actual robot is determined, denoted as the second tool center point.

[0147] If the center point of the first tool matches the center point of the second tool, it means that the robot dynamics model has been verified. At this time, the robot's workspace is determined according to the robot dynamics model, and the target point is selected for standard cycle calibration.

[0148] If the center point of the first tool does not match the center point of the second tool, it means that the robot dynamics model has not passed the verification and cannot accurately represent the actual situation of the robot. In this case, the dynamics model should be rebuilt until the rebuilt robot dynamics model passes the verification.

[0149] The embodiments of this application verify the established robot dynamics model to ensure that the established model can accurately represent the actual situation of the robot, thereby improving the accuracy and reliability of the scheme implementation and ensuring that the obtained standard cycle can accurately test the robot's performance.

[0150] Based on any of the above embodiments, the location determination method further includes: determining the standard cycle time corresponding to the robot according to the target location.

[0151] In this embodiment, the operability of the initial point is used to determine whether the selected point is the preferred point. After determining a suitable target point as the standard beat within the robot's workspace, the standard beat is determined based on the target point. The robot is then tested using this standard beat, which enables the robot to run on the optimal trajectory when running the standard beat. This ensures that the test results of the standard beat are accurate and that the test results truly reflect the robot's performance.

[0152] Based on any of the above embodiments, the point determination method further includes: performing simulator testing on the standard beat to obtain the corresponding beat time; and redetermining the target point if the beat time is greater than the beat time threshold.

[0153] In this embodiment, after determining the optimal target location based on operability and determining the standard beat based on the target location, in order to avoid the optimal solution of the algorithm calculated through operability being inconsistent with the global optimal solution, this embodiment performs simulator testing on the obtained standard beat to obtain the actual beat time of the above-mentioned standard beat. If the actual beat time obtained is greater than the beat time threshold, it indicates that the optimal solution of the standard beat obtained by the algorithm does not match the optimal solution of the global standard beat. At this time, the process of determining the target location is re-executed according to the above method.

[0154] If the actual beat time achieved is less than or equal to the beat time threshold, it means that the current standard beat is valid, and the obtained standard beat can be retained.

[0155] The embodiments of this application verify the optimal solution of the standard beat obtained by the algorithm through simulator test results, which can avoid the situation where the optimal solution of the algorithm is inconsistent with the global optimal solution and improve the reliability of the test results of the standard beat.

[0156] Based on any of the above embodiments, Figure 4 A second flowchart of a point determination method according to an embodiment of this application is shown, such as... Figure 4 As shown, the method includes:

[0157] Step 402, SCARA robot modeling;

[0158] Step 404: Perform dynamic verification on the robot model;

[0159] Step 406: Determine if TCP matches; if yes, proceed to step 408; otherwise, return to step 402.

[0160] Step 408, select the Cartesian point;

[0161] Step 410: Calculate the operability of the location;

[0162] Step 412: Determine if the operability meets the requirements; if yes, proceed to step 416; otherwise, proceed to step 414.

[0163] Step 414: Optimize the location based on operability;

[0164] Step 416: Perform simulator testing;

[0165] Step 418: Determine if the cycle time meets the requirements; if yes, end the process; otherwise, return to step 408.

[0166] In some embodiments of this application, a device for determining the position of a robot's standard beat is provided. Figure 5One of the structural block diagrams of a point determination device according to an embodiment of this application is shown, such as... Figure 5 As shown, the location determination device 500 includes:

[0167] The acquisition module 502 is used to acquire N initial points, where all N initial points are located within the robot's workspace, and N is a positive integer greater than 1;

[0168] Determine module 504, used for:

[0169] Determine the N operability degrees that correspond one-to-one with the N initial points;

[0170] Based on N operability levels, determine the target point from among N initial points.

[0171] In this application embodiment, the standard cycle of the robot is a way to test the performance of the robot. It is commonly used for the performance testing of SCARA robots and some small multi-axis robots (such as small six-axis robots). Specifically, it includes multiple spatial points, which are points within the robot's workspace.

[0172] During the test of running a standard beat, the robot is controlled to execute the standard beat, so that the robot moves to multiple spatial points of the standard beat in sequence. After the robot arrives at point 1 to point N in sequence from zero position, it is determined that the robot has completed one cycle of action. The fastest time for the robot to complete one cycle of action is the beat time of the standard beat. It can be understood that the shorter the beat time, the higher the performance of the robot.

[0173] Therefore, standard beat testing is an important means of calibrating robot performance. The selection of points within the standard beat significantly affects the test results. Inappropriate point selection can severely impact robot performance, thus affecting the test results and preventing the standard beat test from accurately representing the robot's performance.

[0174] In order to accurately select the appropriate standard beat points, this embodiment of the application determines N initial points in the robot's workspace. These N initial points can be randomly selected, obtained by traversing all points in the robot's workspace, or obtained by traversing all points in the robot's workspace and then filtering them according to preset filtering conditions. The preset filtering conditions can be that the distance between the selected points is greater than a preset distance, etc. This embodiment of the application does not limit this.

[0175] After obtaining N initial points, the operability of each initial point is further determined, and the operability corresponding to each initial point is obtained, resulting in a total of N operability values.

[0176] Among them, operability is a robot flexibility index that can comprehensively measure the robot's joint movement capability in various directions, thereby assessing the overall flexibility of the beam robot.

[0177] By determining the robot's maneuverability at a given spatial location, if the robot's maneuverability meets the requirements at an initial location, then that initial location is deemed suitable as a standard beat. If the robot's maneuverability does not meet the requirements at an initial location, then that initial location is deemed unsuitable for generating a standard beat.

[0178] Using the above method, several optimal points are selected from N initial points as target points. These optimal target points are used to generate the robot's standard beat, enabling the robot to complete the test with a better motion trajectory when performing standard beat testing. Moreover, the selection process for these optimal target points only requires determining the operability of the points, without actually building a test environment or controlling the robot to actually perform standard beat testing. The suitability of the selected points is judged based on the test results. Therefore, it can efficiently find suitable points as standard beats and optimize the efficiency of standard beat calibration.

[0179] This application embodiment determines whether a selected point is an optimal point based on its operability, thereby identifying suitable points within the robot's workspace as standard beats. This process does not require building a real test environment and can efficiently determine the points required for standard beats. As a result, the robot can run on the optimal trajectory when operating standard beats, ensuring accurate test results that truly reflect the robot's performance.

[0180] Based on any of the above embodiments, the module is specifically used for:

[0181] Obtain the link length of the robot; determine the angle between the link and the zero point when the link moves to the first initial point; determine the operability of the first initial point based on the link length and the angle; repeat to obtain N operability values.

[0182] In this embodiment, when determining the operability of each initial point, the operability can be calculated based on the length of the robot link and the angle between the robot link and the zero point when it moves to the corresponding initial point. The zero point is the initial position of the link, which can be calibrated by an engineer after the robot is installed. It is understood that each link of the robot corresponds to a zero point.

[0183] Taking a robot consisting of two links as an example, let's illustrate this with link L1 and link L2. In a Cartesian coordinate system, the horizontal velocity of the link is... The velocity of the connecting rod in the vertical direction is pass and To express operability as:

[0184]

[0185] in, and For operability, L1 is the length of link L1, L2 is the length of link L2, and θ1 is the angle between link L1 and the zero position. Let θ1 be the velocity component along the included angle, and θ2 be the angle between link L2 and the zero point position. The velocity component is located in the direction of the included angle θ2.

[0186] Using the above method, the operability corresponding to an initial point can be accurately calculated. For N initial points, the operability corresponding to all N initial points can be determined by repeating the calculation N times.

[0187] This application calculates the operability of each initial point and selects the optimal target point from all N initial points based on the operability as the point of the standard beat. This process does not require an actual testing environment, which can improve the efficiency of obtaining the optimal standard beat. At the same time, the robot is tested using the optimal standard beat, so that the test results can accurately express the robot's performance and improve the test accuracy.

[0188] Based on any of the above embodiments, the N initial points include the starting point and ending point of the standard beat; the determination module is specifically used to: determine the starting point operability corresponding to the starting point and the ending point operability corresponding to the ending point.

[0189] In the embodiments of this application, the standard beat includes at least one starting point and at least one ending point. After the robot moves from the zero point to the starting point and finally moves from the starting point to the ending point, it is determined that the robot has completed one cycle of the standard beat.

[0190] It is understood that a standard beat may also include one or more intermediate points. Assuming the starting point is point 1 and the ending point is point N, the intermediate points may include point 2, point 3, ..., point N-1. This application does not limit this.

[0191] When determining the operability of N initial points, the corresponding starting operability is determined for the starting point and the corresponding ending operability is determined for the ending point. Based on the operability, the target points including the starting point and the ending point are determined, and the final standard beat is obtained.

[0192] It is understandable that any one of the N initial points can be either the starting point or the ending point. When selecting a point, you can choose any one of the N initial points as the starting point, and choose one of the remaining N-1 initial points as the ending point.

[0193] The embodiments of this application determine the target point based on the operability of the starting point and the ending point, and finally obtain a suitable standard beat, which helps to improve the reliability and accuracy of robot standard beat testing.

[0194] Based on any of the above embodiments, the determining module is further configured to:

[0195] Determine the first major axis and first minor axis values ​​of the operability ellipsoid corresponding to the starting point operability, and the second major axis and second minor axis values ​​of the operability ellipsoid corresponding to the ending point operability; determine the starting point measurement value based on the quotient of the first major axis value and the first minor axis value; determine the ending point measurement value based on the quotient of the second major axis value and the second minor axis value.

[0196] In this embodiment, the geometric meaning of operability can be specifically defined as the product of the lengths of the axes of an ellipsoid, and is proportional to the volume of the ellipsoid. Therefore, the operability of a point can correspond to an operability ellipsoid.

[0197] Specifically, in a Cartesian coordinate system, the starting point and the ending point each correspond to an operability ellipsoid. The metric for a point is defined as the quotient of the major axis length and the minor axis length of the operability ellipsoid corresponding to that point.

[0198] For the starting point, first determine the lengths of the major and minor axes of the operability ellipsoid, denoted as the first major axis value Lmax1 and the first minor axis value Lmin1, respectively. Define the starting point's measurement value as the starting point measurement value r1, then r1 = Lmax1 ÷ Lmin1.

[0199] For the endpoint location, first determine the lengths of the major and minor axes of the endpoint operability ellipsoid, denoted as the second major axis value Lmax2 and the second minor axis value Lmin2, respectively. Define the endpoint location as the endpoint measurement value r2, then r2 = Lmax2 ÷ Lmin2.

[0200] This application uses the operability ellipsoid of a point to determine the measurement degree of a starting point and its corresponding ending point, thereby optimizing the selected points and quickly finding the optimal starting point and the optimal ending point, which is beneficial to improving the efficiency of calibrating the standard beat.

[0201] Based on any of the above embodiments, the determining module is further configured to:

[0202] Calculate the average of the first starting point measurement value and the first ending point measurement value, where N initial points include the first starting point and the first ending point; repeat to obtain M average values, M = N × (N-1); determine the minimum value among the M average values, and the starting point and ending point corresponding to the minimum value are the target points.

[0203] In this embodiment, one point is randomly selected from N initial points as the first starting point, and one point is randomly selected from the remaining N-1 initial points as the second starting point. Specifically, taking the first starting point and the first ending point as a set of standard beat points as an example, the explanation is as follows:

[0204] After obtaining the first starting point measurement value and the first ending point measurement value, calculate the arithmetic mean of the measurement values ​​of this set of Cartesian points. Let the mean be R, then R = (r1 + r2) ÷ 2, where r1 is the first starting point measurement value and r2 is the second starting point measurement value.

[0205] Calculate the average value corresponding to each combination of starting and ending points, and a total of N×(N-1)=M average values ​​can be calculated.

[0206] The optimization equations are established as follows:

[0207] min(R(x1,x2));

[0208] sub.to x1,x2∈X;

[0209] Where X is the robot's workspace, x1 is the operability of the first starting point, and x2 is the operability of the first ending point.

[0210] By optimizing the equation, the minimum value is found among all M average values. The starting and ending points corresponding to this minimum value are the optimal points, i.e., the target points.

[0211] This application embodiment calculates the average value of the measurement value of the starting point and the measurement value of the ending point, and judges whether the selected starting point and ending point are appropriate based on the average value. The set of starting point and ending point with the smallest average value is taken as the target point, which can ensure that the final standard beat test result of the robot can truly reflect the robot's performance and improve the accuracy of the standard beat test.

[0212] Based on any of the above embodiments, the location determination device further includes:

[0213] The modeling module is used to build a dynamic model of the robot based on its parameter information.

[0214] The determination module is also used to determine the workspace based on the dynamic model.

[0215] In this embodiment of the application, a dynamic model corresponding to the robot is established, and optimization modeling is performed based on the dynamic model to accurately obtain information such as the robot's workspace. There is no need to actually mount the robot in the environment, which facilitates the establishment of a Cartesian coordinate system. At the same time, the dynamic model has better mathematical and physical expressiveness, which can facilitate the optimization of robot movements and improve the calibration efficiency of standard beats.

[0216] Based on any of the above embodiments, the parameter information includes: link length and link mass.

[0217] In this embodiment of the application, when establishing the dynamic model of the robot, the basic dynamic model of the robot is established by inputting the link length and link mass, which simplifies the robot into basic structures such as links and shafts, which is beneficial to improving efficiency.

[0218] Based on any of the above embodiments, the determining module is further configured to: determine the first tool center point according to the dynamic model; determine the second tool center point of the robot; and reconstruct the dynamic model if the first tool center point and the second tool center point do not match.

[0219] In this embodiment of the application, after establishing the robot's dynamic model, the robot's dynamic model is verified. Specifically, the TCP (Tool Center Point) of the robot model is determined in the robot dynamic model, denoted as the first tool center point, and the TCP of the actual robot is determined, denoted as the second tool center point.

[0220] If the center point of the first tool matches the center point of the second tool, it means that the robot dynamics model has been verified. At this time, the robot's workspace is determined according to the robot dynamics model, and the target point is selected for standard cycle calibration.

[0221] If the center point of the first tool does not match the center point of the second tool, it means that the robot dynamics model has not passed the verification and cannot accurately represent the actual situation of the robot. In this case, the dynamics model should be rebuilt until the rebuilt robot dynamics model passes the verification.

[0222] The embodiments of this application verify the established robot dynamics model to ensure that the established model can accurately represent the actual situation of the robot, thereby improving the accuracy and reliability of the scheme implementation and ensuring that the obtained standard cycle can accurately test the robot's performance.

[0223] Based on any of the above embodiments, the determining module is further configured to: determine the standard cycle time corresponding to the robot based on the target point.

[0224] In this embodiment, the operability of the initial point is used to determine whether the selected point is the preferred point. After determining a suitable target point as the standard beat within the robot's workspace, the standard beat is determined based on the target point. The robot is then tested using this standard beat, which enables the robot to run on the optimal trajectory when running the standard beat. This ensures that the test results of the standard beat are accurate and that the test results truly reflect the robot's performance.

[0225] Based on any of the above embodiments, the point determination method further includes: performing simulator testing on the standard beat to obtain the corresponding beat time; and redetermining the target point if the beat time is greater than the beat time threshold.

[0226] In this embodiment, after determining the optimal target location based on operability and determining the standard beat based on the target location, in order to avoid the optimal solution of the algorithm calculated through operability being inconsistent with the global optimal solution, this embodiment performs simulator testing on the obtained standard beat to obtain the actual beat time of the above-mentioned standard beat. If the actual beat time obtained is greater than the beat time threshold, it indicates that the optimal solution of the standard beat obtained by the algorithm does not match the optimal solution of the global standard beat. At this time, the process of determining the target location is re-executed according to the above method.

[0227] If the actual beat time achieved is less than or equal to the beat time threshold, it means that the current standard beat is valid, and the obtained standard beat can be retained.

[0228] The embodiments of this application verify the optimal solution of the standard beat obtained by the algorithm through simulator test results, which can avoid the situation where the optimal solution of the algorithm is inconsistent with the global optimal solution and improve the reliability of the test results of the standard beat.

[0229] In some embodiments of this application, a device for determining the position of a robot's standard beat is provided. Figure 6 A second structural block diagram of a location determination device according to an embodiment of this application is shown, such as... Figure 6 As shown, the location determination device 600 includes:

[0230] The memory 602 is used to store programs or instructions; the processor 604 is used to execute programs or instructions to implement the steps of the point determination method proposed based on any of the above embodiments. Therefore, the point determination device for the standard cycle of the robot also includes all the beneficial effects of the point determination method proposed based on any of the above embodiments, and will not be described again here to avoid repetition.

[0231] In some embodiments of this application, a readable storage medium is provided on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the steps of the point determination method proposed based on any of the above embodiments. Therefore, the readable storage medium also includes all the beneficial effects of the point determination method proposed based on any of the above embodiments. To avoid repetition, these will not be repeated here.

[0232] In some embodiments of this application, a computer program product is provided, which is stored in a storage medium. When executed by at least one processor, the computer program product implements the steps of the point determination method proposed based on any of the above embodiments. Therefore, the computer program product also includes all the beneficial effects of the point determination method proposed based on any of the above embodiments. To avoid repetition, these will not be repeated here.

[0233] In some embodiments of this application, a robot is provided, including: a point determination device for the standard beat of the robot as provided in any of the above embodiments; and / or a readable storage medium as provided in any of the above embodiments. Therefore, the robot also includes all the beneficial effects of the point determination device for the standard beat of the robot as provided in any of the above embodiments and / or the readable storage medium as provided in any of the above embodiments. To avoid repetition, these will not be repeated here.

[0234] In the description of this invention, the term "multiple" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "connect," "install," "fix," etc., should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0235] In the description of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0236] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining a point position of a standard beat of a robot, characterized by, The method comprises: obtaining N initial point positions, wherein the N initial point positions are located in a workspace of the robot, and N is a positive integer greater than 1; determining N operable degrees corresponding to the N initial point positions one by one; determining a target point position from the N initial point positions according to the N operable degrees; the method of determining a target point position from the N initial point positions according to the N operable degrees comprises: calculating an average value of a first start point measurement value corresponding to a first start point and a first end point measurement value corresponding to a first end point, wherein the N initial point positions include the first start point and the first end point, and any one of the N initial point positions is selected as a start point position, and any one of the remaining N-1 initial point positions is selected as an end point position; repeating to obtain M average values, M=N×(N-1); determining a minimum value from the M average values, and the start point position and the end point position corresponding to the minimum value are the target point positions; the method of determining a standard beat point position of the robot further comprises: determining a standard beat corresponding to the robot according to the target point position; performing a simulator test on the standard beat to obtain a corresponding beat time; in the case that the beat time is greater than a beat time threshold, re-determining the target point position; in the case that the beat time is less than or equal to the beat time threshold, retaining the standard beat.

2. The point location method of claim 1, wherein, determining N operable degrees corresponding to the N initial point positions one by one comprises: obtaining a length of a connecting rod of the robot; determining an included angle between the connecting rod and a zero position when the connecting rod moves to a first initial point position; determining an operable degree of the first initial point position according to the length of the connecting rod and the included angle; repeating to obtain the N operable degrees.

3. The point location method of claim 1, wherein, the N initial point positions include a start point position and an end point position of the standard beat; determining N operable degrees corresponding to the N initial point positions one by one comprises: determining a start point operable degree corresponding to the start point position and an end point operable degree corresponding to the end point position.

4. The point location method of claim 3, wherein, after determining the start point operable degree corresponding to the start point position and the end point operable degree corresponding to the end point position, the method further comprises: determining a first long axis value and a first short axis value of an operable degree ellipsoid corresponding to the start point operable degree, and a second long axis value and a second short axis value of an operable degree ellipsoid corresponding to the end point operable degree; determining a start point measurement value according to a quotient of the first long axis value and the first short axis value; determining an end point measurement value according to a quotient of the second long axis value and the second short axis value.

5. The point location method of claim 2, wherein, before the N initial point positions are obtained, the method further comprises: establishing a dynamics model corresponding to the robot according to parameter information of the robot; determining the workspace according to the dynamics model.

6. The point location method of claim 5, wherein, the parameter information includes the length of the connecting rod and the mass of the connecting rod.

7. The point location method of claim 5, wherein, further comprising: determining a first tool center point according to the dynamics model; determining a second tool center point of the robot; in the case that the first tool center point and the second tool center point do not match, re-establishing the dynamics model.

8. A device for determining the position of a robot's standard beat, characterized in that, ​ An acquisition module is configured to acquire N initial point positions, wherein the N initial point positions are located in a workspace of the robot, and N is a positive integer greater than 1. A determination module is configured to: determine N operable degrees corresponding to the N initial point positions one by one; determine a target point position from the N initial point positions according to the N operable degrees; The determination module is further configured to: calculate an average value of a first start point measurement corresponding to a first start point and a first end point measurement corresponding to a first end point, wherein the N initial point positions include the first start point and the first end point, and any one of the N initial point positions is selected as a start point position and any one of the remaining N-1 initial point positions is selected as an end point position; repeat the calculation to obtain M average values, M=N×(N-1); determine a minimum value from the M average values, and the start point position and the end point position corresponding to the minimum value are the target point position; The determination module is further configured to: determine a standard beat corresponding to the robot according to the target point position; perform a simulator test on the standard beat to obtain a corresponding beat time; in a case where the beat time is greater than a beat time threshold, re-determine the target point position; in a case where the beat time is less than or equal to the beat time threshold, retain the standard beat.

9. A device for determining the position of a robot's standard beat, characterized in that, comprise: a memory configured to store programs or instructions; a processor configured to execute the programs or instructions to implement the steps of the point position determination method according to any one of claims 1 to 7.

10. A readable storage medium, on which a program or instructions are stored, characterized in that, The programs or instructions are executed by the processor to implement the steps of the point position determination method according to any one of claims 1 to 7.

11. A computer program product stored in a storage medium, characterized in that, The computer program product is executed by at least one processor to implement the steps of the point position determination method according to any one of claims 1 to 7.

12. A robot, characterized in that comprise: a point position determination device for a standard beat of a robot according to claim 8 or 9; and / or a readable storage medium according to claim 10.

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