A robotic arm control method, device, electronic device and storage medium

Abstract

The present application discloses a method, device, electronic device and storage medium for controlling a robotic arm, and the present application belongs to the field of control technology. The method includes: determining the actual force data applied to the execution tool through the mechanical readings collected by the sensor; determining the spatial posture relationship between the execution tool and the end of the robotic arm using a calibration algorithm; decomposing the actual force data according to the spatial posture relationship to obtain a first-direction decomposition force and a second-direction decomposition force; establishing a second-order compliance control model for the first-direction decomposition force and the second-direction decomposition force respectively, and using the second-order compliance control model to determine the displacement parameters and speed parameters of the robotic arm under the action of the actual force data. This technical solution achieves the purpose of precise control of the robotic arm by decomposing the actual force and establishing a second-order compliance control model based on the decomposition force, and can improve the compliance of the control of the robotic arm.

Description

Technical Field

[0001] The present application belongs to the field of control technology, and specifically relates to a robotic arm control method, device, electronic device and storage medium. Background Art

[0002] As the number of robotic arm applications continues to increase, the accuracy of their tasks is also increasing. Robotic arms can achieve more precise positioning of task points and complete tasks more reliably. Therefore, the requirements for the flexibility of robotic arm operations are also increasing, and the control method of robotic arms is becoming increasingly important.

[0003] In existing technology, robotic arms are controlled primarily by a human operator issuing commands based on the target location and task, which the robotic arm then executes. However, current technology can only control the robotic arm's direction, destination, and task content, but cannot control its speed or flexibility. Consequently, current control methods lack the ability to ensure smooth robotic arm movement. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a robotic arm control method, device, electronic device and storage medium, which can solve the current problem of being unable to perform compliant control of the robotic arm. By obtaining the actual force data applied to the execution tool, the external force is decomposed, and then a second-order compliant control model is established based on the decomposed force, so as to achieve the purpose of precise control of the robotic arm and improve the compliance of the robotic arm control.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a robotic arm, the method comprising:

[0006] Determine the actual force data applied to the execution tool through the mechanical readings collected by the sensor;

[0007] Use the calibration algorithm to determine the spatial pose relationship between the execution tool and the end of the robotic arm;

[0008] Decomposing the actual force data according to the spatial posture relationship to obtain a first-direction decomposed force and a second-direction decomposed force;

[0009] Second-order compliance control models of the first-direction decomposition force and the second-direction decomposition force are respectively established, and the displacement parameters and speed parameters of the robot arm under the action of actual force data are determined by using the second-order compliance control models.

[0010] Furthermore, the actual force data applied to the execution tool is determined by the mechanical readings collected by the sensor, including:

[0011] Determine the equivalent mass of the execution tool using the load identification algorithm of the sensor;

[0012] determining gravity data of the execution tool according to the equivalent mass;

[0013] The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data.

[0014] Furthermore, before determining the actual force data applied to the execution tool based on the difference between the mechanical reading collected by the sensor and the gravity data, the method further includes:

[0015] Determining zero offset data of the sensor;

[0016] Accordingly, the actual force data applied to the execution tool is determined based on the difference between the mechanical reading collected by the sensor and the gravity data, including:

[0017] The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data and the zero offset data.

[0018] Furthermore, a calibration algorithm is used to determine the spatial pose relationship between the execution tool and the end of the robotic arm, including:

[0019] Using the calibration algorithm, the rotational change relationship between the end coordinate system of the robot arm and the coordinate system of the tool tip is determined;

[0020] Accordingly, the actual force data is decomposed according to the spatial posture relationship to obtain a first-direction decomposed force and a second-direction decomposed force, including:

[0021] According to the rotation change relationship, the actual force data is decomposed to obtain the vertical decomposed force in the direction of the execution tool needle tip and the vertical decomposed force perpendicular to the direction of the execution tool needle tip.

[0022] Furthermore, the vertical decomposition force in the direction of the tool tip is determined using the following formula:

[0023]

[0024] in, To execute the vertical decomposition force data of the tool tip direction; F e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system;

[0025] The vertical resolution force perpendicular to the direction of the actuating tool tip is determined by the following formula:

[0026]

[0027] in, F is the vertical resolution force data perpendicular to the direction of the tool tip; e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system.

[0028] Furthermore, second-order compliance control models of the first-direction decomposition force and the second-direction decomposition force are respectively established, including:

[0029] Obtain the inertia parameters, damping parameters and elastic parameters of the robotic arm;

[0030] Establishing a first-direction second-order compliance control model and a second-direction second-order compliance control model according to the inertia parameter, the damping parameter, the elastic parameter, the first-direction decomposition force, and the second-direction decomposition force, respectively;

[0031] Accordingly, the second-order compliant control model is used to determine the displacement parameters and speed parameters of the manipulator under the actual force data, including:

[0032] Determining a first-direction displacement parameter and a second-direction displacement parameter using the first-direction second-order compliance control model and the second-direction second-order compliance control model;

[0033] The first direction displacement parameter and the second direction displacement parameter are synthesized to obtain the displacement parameter and speed parameter of the robot arm under the action of the actual force data.

[0034] Furthermore, the force data includes vector data of force and vector data of torque.

[0035] In a second aspect, an embodiment of the present application provides a robotic arm control device, the device comprising:

[0036] An actual force data determination module, configured to determine actual force data applied to the execution tool through mechanical readings collected by the sensor;

[0037] A spatial pose relationship determination module is used to determine the spatial pose relationship between the execution tool and the end of the robotic arm using a calibration algorithm;

[0038] an actual force data decomposition module, configured to decompose the actual force data according to the spatial posture relationship to obtain a first direction decomposition force and a second direction decomposition force;

[0039] The parameter determination module is used to establish a second-order compliance control model for the first direction decomposition force and the second direction decomposition force respectively, and use the second-order compliance control model to determine the displacement parameters and speed parameters of the robot arm under the action of actual force data.

[0040] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0042] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0043] In the embodiment of the present application, the actual force data applied to the execution tool is determined by the mechanical readings collected by the sensor; the spatial posture relationship between the execution tool and the end of the manipulator is determined by using a calibration algorithm;

[0044] Based on the spatial posture relationship, the actual force data is decomposed to obtain a first-direction decomposition force and a second-direction decomposition force; second-order compliance control models are established for the first-direction decomposition force and the second-direction decomposition force, respectively, and the second-order compliance control models are used to determine the displacement parameters and velocity parameters of the manipulator under the actual force data. The above-mentioned manipulator control method can solve the current problem of being unable to perform compliant control on the manipulator. By obtaining the actual force data applied to the actuator, the external force is decomposed, and then a second-order compliance control model is established based on the decomposed forces to achieve the purpose of controlling the manipulator, which can improve the compliance of the manipulator control. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 1 is a flow chart of the robot arm control method provided in Example 1 of the present application;

[0046] Figure 2 This is a flow chart of the robotic arm control method provided in Example 2 of the present application;

[0047] Figure 3 This is a schematic diagram of the structure of the robotic arm control device provided in Example 3 of the present application;

[0048] Figure 4 This is a schematic diagram of the structure of the electronic device provided in Example 4 of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should also be noted that, for ease of description, only parts related to the present application, not all of the contents, are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0050] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0051] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0052] The following, in combination with the accompanying drawings, describes in detail the real-time operation and maintenance method, device, electronic device and storage medium for robotic arm control provided by the embodiments of the present application through specific embodiments and their application scenarios.

[0053] Example 1

[0054] Figure 1 This is a flow chart of the robot arm control method provided in the first embodiment of the present application. The end of the robot arm is equipped with an execution tool. Figure 1 As shown, the specific steps include:

[0055] S101, determining actual force data applied to the execution tool through mechanical readings collected by a sensor;

[0056] First of all, the application scenario of the technical solution of this application may be a scenario where the robotic arm needs to be compliantly controlled during operation. By obtaining the external force data applied by the execution tool and decomposing the force, the purpose of controlling the operating speed and displacement of the robotic arm is achieved, thereby improving the compliance of the control of the robotic arm.

[0057] Based on the above usage scenarios, it can be understood that the execution subject of this application can be a software or system installed on the control end of the robotic arm, which can acquire, decompose and calculate external force data. No further restrictions are made here.

[0058] In this solution, the robotic arm can be a mechanism designed to mimic the human arm, a serial robot mechanism capable of receiving commands and accurately locating points in three- or two-dimensional space for manipulation. One end is fixed to a base, while the other end is free to move. The base supports the robotic arm, and the entire actuator and drive mechanism are mounted on the base. The robotic arm generally consists of three parts: the end of the arm, which is used to mount an actuator tool and perform tasks; the kinematic structure, which can move in all directions, rotate, and extend; and the control system, which controls the direction, displacement, and speed of the robotic arm and is typically programmed using a chip. Simply put, a robotic arm is a device that uses a program to move and control the manipulator to perform grasping and releasing operations. The end of the arm can be equipped with various actuators. The arm's upper and lower arms, or even the wrist, can then be used to reach the target position and perform specific tasks. Specifically, these actuators can include grippers, drills, welding guns, and other actuators with different working purposes. The robotic arm can be a mechanical structure used in industrial, aerospace, and service fields to perform precise, dangerous, and complex tasks.

[0059] In this solution, the sensor can be a detection device that can sense the information being measured and can convert the sensed information into electrical signals or other required forms of information output according to certain rules to meet the requirements of information transmission, processing, storage, display, recording and control. Specifically, the sensor can be a force sensor for reading the force data acting on the execution tool. The force sensor can be a device that converts the value of the force into a related electrical signal. The force sensor can detect mechanical quantities such as tension, pulling force, pressure, weight, torque, internal stress and strain. The force sensor includes a metal strain gauge, a pressure sensor, etc., and is mainly composed of three parts: a force sensitive element (i.e., an elastomer, common materials include aluminum alloy, alloy steel and stainless steel); a conversion element (the most common is a resistance strain gauge); and a circuit part (generally enameled wire, PCB board, etc.).

[0060] In this solution, the actual force data can be the force data applied by the controller to the actuator to change the displacement, speed, and acceleration of the robot arm. Because the end-of-arm manipulator operates relatively slowly, applying external force to the actuator can enhance the manipulator's operational flexibility. Specifically, the force data can be pre-set based on different task objectives. When the controller applies different values ​​of the force data to the actuator, the end-of-arm manipulator will also achieve different operational effects.

[0061] In this solution, the mechanical readings collected by the sensor can be obtained by installing the sensor on a robotic arm. By applying a force to the outside of the robotic arm, the sensor reading can be changed. Specifically, one or more sensors can be installed at the end of the robotic arm, the joint of the robotic arm, and one or more locations of the arm to read the force data. The coordinate systems formed by different structures of the robotic arm are different. Therefore, by applying a force to different structural parts of the robotic arm, the sensor reading at the corresponding position can be changed, and the coordinate value in the current coordinate system can be calculated based on the reading. At the same time, since the force sensor is a precision instrument, it has its own zero-point bias. The zero-point bias has a small range of variation and can be regarded as a constant, and is independent of the external force. Therefore, the coordinate value of the zero-point bias can be calculated through multiple sets of sensor readings. The zero-point bias of the sensor can include the zero-point bias of the force and the zero-point bias of the torque.

[0062] S102, using a calibration algorithm to determine the spatial pose relationship between the execution tool and the end of the robotic arm;

[0063] In this solution, the spatial posture can be used to completely describe the posture of any coordinate system in the world coordinate system in space, and can be divided into two parts, one part is to describe the relative position relationship of the coordinate system with respect to the world coordinate system, and the other part is to describe the posture of the coordinate system with respect to the world coordinate system. The spatial posture relationship between the execution tool and the end of the robotic arm can be a coordinate system transformation relationship matrix that combines the execution tool coordinate system with the robotic arm end coordinate system. Specifically, it can be calculated using a calibration algorithm. The principle of the calibration algorithm is to use a standard value generated by a standard device (such as a known standard force, pressure, torque, displacement, etc.) as a measuring ruler, input it into the sensor to be calibrated, and obtain the output of the sensor; then, through mathematical methods, determine the calibration work (calibration curve), and after comparison and data processing, the corresponding relationship between the input and output (sensor sensitivity) and its accuracy can be obtained. By utilizing the spatial posture relationship, when a certain point in space needs to be positioned separately in two coordinate systems, the coordinate value of the point in the robot end coordinate system can be obtained through sensor readings, and then the coordinate value of the point in the execution tool coordinate system can be calculated using the spatial posture relationship.

[0064] S103, decomposing the actual force data according to the spatial posture relationship to obtain a first-direction decomposed force and a second-direction decomposed force;

[0065] In this solution, the first-direction decomposition force and the second-direction decomposition force can be obtained by decomposing the actual force along the direction of the executing tool needle body and the direction perpendicular to the executing tool needle body. Specifically, the sensor can be used to read and calculate the coordinate value of the actual force data applied to the executing tool in the sensor coordinate system, and the first-direction decomposition force and the second-direction decomposition force can be calculated respectively according to the coordinate value of the actual force data, the spatial posture relationship, and the angle between the actual force and the executing tool.

[0066] In this solution, a calibration algorithm is optionally used to determine the spatial pose relationship between the execution tool and the end of the robotic arm, including:

[0067] Using the calibration algorithm, the rotational change relationship between the end coordinate system of the robot arm and the coordinate system of the tool tip is determined;

[0068] Accordingly, the actual force data is decomposed according to the spatial posture relationship to obtain a first-direction decomposed force and a second-direction decomposed force, including:

[0069] According to the rotation change relationship, the actual force data is decomposed to obtain the vertical decomposed force in the direction of the execution tool needle tip and the vertical decomposed force perpendicular to the direction of the execution tool needle tip.

[0070] In this solution, the calibration algorithm can be an algorithm for determining the rotational change relationship between the coordinate system of the end of the manipulator and the coordinate system of the needle tip of the executing tool. Specifically, it can be calculated using the hand-eye calibration algorithm AX=XB, where X is the rotational change relationship matrix, A can be the coordinate transformation relationship of the end of the manipulator, and B can be the transformation relationship of the coordinate system of the needle tip of the executing tool. The spatial posture relationship is the rotational change relationship matrix. According to the rotational change relationship matrix, the actual force data, and the spatial posture relationship, the actual force data is decomposed according to the angle between the actual force and the executing tool to obtain the vertical decomposition force in the direction of the needle tip of the executing tool and the vertical decomposition force perpendicular to the direction of the needle tip of the executing tool. The vertical decomposition force in the direction of the needle tip of the executing tool is the first direction decomposition force, and the vertical decomposition force perpendicular to the direction of the needle tip of the executing tool is the second direction decomposition force.

[0071] In this scheme, the rotational change relationship between the end coordinate system of the robot arm and the tip coordinate system of the execution tool is calculated through a calibration algorithm, and the actual force data applied to the execution tool is decomposed using this rotational change relationship. This can achieve the purpose of decomposing the actual force data according to the sensor readings, thereby improving the accuracy and simplicity of the decomposition of the actual force data.

[0072] In this solution, optionally, the vertical decomposition force in the direction of the tool tip is determined using the following formula:

[0073]

[0074] in, To execute the vertical decomposition force data of the tool tip direction; F e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system;

[0075] The vertical resolution force perpendicular to the direction of the actuating tool tip is determined by the following formula:

[0076]

[0077] in, F is the vertical resolution force data perpendicular to the direction of the tool tip; e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system.

[0078] In this solution, the vertical decomposition force in the direction of the tool tip can be performed using the formula: It is calculated that the vertical resolution force perpendicular to the direction of the tool tip can be used using the formula: It is calculated that, To perform vertical decomposition of force data in the direction of the tool tip; F is the vertical resolution force data perpendicular to the direction of the tool tip; e is the sensor reading of the actual force data applied to the execution tool, which includes the coordinate value of the force and the coordinate value of the torque in the sensor coordinate system; R e t is the rotational change relationship between the robot arm end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force direction applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system.

[0079] In this scheme, by utilizing the sensor readings, the spatial posture relationship between the end of the robotic arm and the execution tool coordinate system, and the angle between the actual force direction applied to the execution tool and the direction of the execution tool needle tip, the vertical decomposition force in the direction of the execution tool needle tip and the vertical decomposition force perpendicular to the direction of the execution tool needle tip are calculated, thereby improving the accuracy of the decomposition of the actual force applied to the execution tool.

[0080] S104 , establishing second-order compliance control models for the first-direction decomposition force and the second-direction decomposition force respectively, and using the second-order compliance control models to determine displacement parameters and speed parameters of the robot arm under the actual force data.

[0081] In this solution, the second-order compliant control model can be a second-order compliant admittance control model. Specifically, the model can be established by combining an admittance controller with a motion tracker. The principle of the admittance controller can be that the sensor first inputs the actual force data collected into the admittance controller, and the admittance controller outputs the desired motion quantity. The motion quantity can be the displacement parameter and speed parameter of the robot arm operation. The motion tracker receives the motion quantity and then outputs the actual motion of the end of the robot arm. In essence, the admittance controller mainly plays the role of generating a motion quantity reference trajectory. According to the first direction decomposition force and the second direction decomposition force, the second-order compliant control models in the two directions are established respectively.

[0082] Specifically, the second-order compliance control model of the first-direction decomposition force can adopt the following formula:

[0083]

[0084] The second-order compliant control model of the second-direction decomposition force can be expressed as follows:

[0085]

[0086] in, is the inertia parameter in the first direction, is the damping parameter in this direction, is the elastic parameter in this direction; is the inertia parameter in the second direction, is the damping parameter in this direction, is the elastic parameter in this direction; X represents the distance, speed and acceleration of the robot arm moving in two directions, and for The first derivative of is the first derivative of X.

[0087] Using the second-order compliant control model, after the sensor obtains the actual force data applied to the execution tool, the actual force data is decomposed, and the first direction displacement parameter and the second direction displacement parameter of the robotic arm under the action of the actual force data are determined based on the decomposed force.

[0088] In this solution, optionally, second-order compliance control models of the first-direction decomposition force and the second-direction decomposition force are established respectively, including:

[0089] Obtain the inertia parameters, damping parameters and elastic parameters of the robotic arm;

[0090] Establishing a first-direction second-order compliance control model and a second-direction second-order compliance control model according to the inertia parameter, the damping parameter, the elastic parameter, the first-direction decomposition force, and the second-direction decomposition force, respectively;

[0091] Accordingly, the second-order compliant control model is used to determine the displacement parameters and speed parameters of the manipulator under the actual force data, including:

[0092] Determining a first-direction displacement parameter and a second-direction displacement parameter using the first-direction second-order compliance control model and the second-direction second-order compliance control model;

[0093] The first direction displacement parameter and the second direction displacement parameter are synthesized to obtain the displacement parameter and speed parameter of the robot arm under the action of the actual force data.

[0094] In this solution, the inertia parameters, damping parameters, and elasticity parameters of the robotic arm can be derived based on simulation experiments on the robotic arm, and these parameters are constant. Based on these inertia parameters, damping parameters, and elasticity parameters, as well as the first-direction decomposition force and the second-direction decomposition force, a first-direction second-order compliance control model and a second-direction second-order compliance control model are respectively established according to the admittance control model. Using the first-direction second-order compliance control model and the second-direction second-order compliance control model, the first-direction displacement parameter and the second-direction displacement parameter are determined. The displacement parameters in the two directions are synthesized and calculated in the same coordinate system to obtain the displacement parameters of the robotic arm under the actual force data. The velocity parameters are then obtained by calculating the first-order derivative based on the displacement parameters.

[0095] In this scheme, second-order compliance control models in two directions are established according to the decomposed force and the parameters of the robotic arm. The displacement parameters and speed parameters of the robotic arm are calculated according to the second-order compliance control model, and then the displacement and speed of the robotic arm are controlled, which can improve the compliance and accuracy of the robotic arm control.

[0096] The technical solution provided in this embodiment determines the actual force data applied to the execution tool through the mechanical readings collected by the sensor; determines the spatial posture relationship between the execution tool and the end of the robotic arm using a calibration algorithm; decomposes the actual force data according to the spatial posture relationship to obtain the first direction decomposition force and the second direction decomposition force; establishes a second-order compliance control model for the first direction decomposition force and the second direction decomposition force respectively, and uses the second-order compliance control model to determine the displacement parameters and speed parameters of the robotic arm under the action of the actual force data. The above-mentioned robotic arm control method can solve the current problem of being unable to perform compliant control on the robotic arm. By obtaining the actual force data applied to the execution tool, the external force is decomposed, and then a second-order compliance control model is established based on the decomposed force, so as to achieve the purpose of controlling the robotic arm and improve the compliance of the robotic arm control.

[0097] Example 2

[0098] Figure 2 This is a flow chart of the robot arm control method provided in Example 2 of this application. Figure 2 As shown, the specific steps include:

[0099] S201, determining the equivalent mass of the execution tool using a load identification algorithm of the sensor;

[0100] In this solution, the equivalent mass can be the coordinate value of the gravity of the execution tool itself in the three-dimensional coordinate system of the sensor. Specifically, by installing a six-dimensional force sensor at the end of the robotic arm, the coordinate value of the execution tool after it is installed at the end of the robotic arm can be read more accurately, and then the equivalent mass of the execution tool can be determined based on the load identification algorithm of the sensor.

[0101] S202, determining gravity data of the execution tool according to the equivalent mass;

[0102] In this solution, the gravity data of the execution tool may be the actual gravity value of the execution tool, which is calculated using the following formula based on the equivalent mass:

[0103]

[0104] Among them, G s is the equivalent mass, is the coordinate value of the equivalent mass in the sensor coordinate system, is the coordinate transformation relationship matrix between the robot base coordinate system and the sensor coordinate system, and G is the gravity data of the execution tool.

[0105] S203, determining actual force data applied to the execution tool based on the difference between the mechanical reading collected by the sensor and the gravity data;

[0106] In this solution, the actual force data applied to the actuator can be the actual external force after gravity compensation has been performed on the actuator. Since a six-dimensional force sensor is installed at the end of the robotic arm, and the actuator is installed at the end of the robotic arm and connected to the sensor, the end tool will affect the value collected by the sensor due to gravity in different postures. The sensor reading cannot fully reflect the end force situation and also includes the effect of the tool's gravity. Therefore, gravity compensation is required to accurately reflect the actual force. The actual force data applied to the actuator is determined based on the difference between the mechanical reading collected by the sensor and the gravity data.

[0107] In this solution, optionally, before determining the actual force data applied to the execution tool based on the difference between the mechanical reading collected by the sensor and the gravity data, the method further includes:

[0108] Determining zero offset data of the sensor;

[0109] Accordingly, the actual force data applied to the execution tool is determined based on the difference between the mechanical reading collected by the sensor and the gravity data, including:

[0110] The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data and the zero offset data.

[0111] In this solution, the zero-point offset data of the sensor can include the zero-point offset data of the sensor force and the zero-point offset data of the torque. Since the sensor itself has zero-point offset data, in order to make the acquired external actual force more accurate, it is necessary to consider the zero-point offset data when calculating the actual force data. Specifically, the zero-point offset data can be calculated according to the following formula:

[0112]

[0113] Arrangement available Where I represents the 3×3 unit matrix. By constructing the equation F=R×f, we can obtain f=(R T R) -1 R T F. Among them, is the zero point bias of the sensor force, is the transformation matrix between the end of the robot arm and the sensor coordinate system, is the sensor reading. Similarly, the zero-point offset data of the sensor torque can be calculated, which will not be detailed here.

[0114] In this solution, after the zero-point offset data of the sensor is determined, the actual force data applied to the execution tool is calculated based on the difference between the mechanical reading collected by the sensor and the gravity data and the zero-point offset data.

[0115] In this solution, by acquiring the sensor force and torque zero-point offset data, the accuracy of the calculation of the actual force data applied to the execution tool can be improved, which is beneficial to the accuracy of the decomposition of the external force, and thus the reliability of the flexible control of the robot arm can be improved.

[0116] In this solution, optionally, the force data includes vector data of force and vector data of torque.

[0117] In this embodiment, the force vector data and torque vector data may be actual external force data applied to the actuator. Specifically, the force vector data and torque vector data may be calculated by applying the external force to the actuator and then compensating the sensor readings for the gravity of the sensor itself and the actuator, thereby obtaining the force vector data in the force data. The torque vector data can be obtained similarly, and will not be further described.

[0118] In this solution, by acquiring force vector data and torque vector data of the actual force applied to the execution tool, the accuracy of acquiring the external force can be improved.

[0119] S204, using a calibration algorithm to determine the spatial pose relationship between the execution tool and the end of the robotic arm;

[0120] S205, decomposing the actual force data according to the spatial posture relationship to obtain a first-direction decomposed force and a second-direction decomposed force;

[0121] S206 , establishing second-order compliance control models for the first-direction decomposition force and the second-direction decomposition force respectively, and using the second-order compliance control models to determine displacement parameters and speed parameters of the robot arm under the actual force data.

[0122] The technical solution provided in this embodiment uses a sensor's load identification algorithm to calculate the equivalent mass of the actuator. This equivalent mass is then used to calculate the actual gravity data of the actuator. The actual force data applied to the actuator is then determined based on the difference between the mechanical readings collected by the sensor and the gravity data. This actual force data is then decomposed, and a second-order compliance control model is established based on the decomposed forces to achieve control of the robotic arm. This approach improves the accuracy of external force acquisition, thereby enhancing the accuracy and reliability of the robotic arm's compliance control.

[0123] Example 3

[0124] Figure 3 This is a schematic diagram of the structure of the robot arm control device provided in Example 3 of this application. Figure 1 As shown, specifically including the following:

[0125] An actual force data determination module, configured to determine actual force data applied to the execution tool through mechanical readings collected by the sensor;

[0126] A spatial pose relationship determination module is used to determine the spatial pose relationship between the execution tool and the end of the robotic arm using a calibration algorithm;

[0127] an actual force data decomposition module, configured to decompose the actual force data according to the spatial posture relationship to obtain a first direction decomposition force and a second direction decomposition force;

[0128] The parameter determination module is used to establish a second-order compliance control model for the first direction decomposition force and the second direction decomposition force respectively, and use the second-order compliance control model to determine the displacement parameters and speed parameters of the robot arm under the action of actual force data.

[0129] Furthermore, the actual force data determination module further includes:

[0130] An equivalent mass identification unit, configured to determine the equivalent mass of the execution tool using a load identification algorithm of the sensor;

[0131] a gravity data determining unit, configured to determine gravity data of the execution tool according to the equivalent mass;

[0132] The actual force data calculation unit is used to determine the actual force data applied to the execution tool according to the difference between the mechanical reading collected by the sensor and the gravity data.

[0133] Furthermore, the actual force data calculation unit is specifically used to:

[0134] Determining zero offset data of the sensor;

[0135] Accordingly, the actual force data calculation unit is specifically used to:

[0136] The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data and the zero offset data.

[0137] Furthermore, the spatial posture relationship determination module also includes:

[0138] A rotation change relationship determination unit, configured to determine the rotation change relationship between the robot arm end coordinate system and the execution tool tip coordinate system using a calibration algorithm;

[0139] Correspondingly, the actual force data decomposition module also includes:

[0140] The actual force decomposition unit is used to decompose the actual force data according to the rotation change relationship to obtain the vertical decomposition force in the direction of the tool tip and the vertical decomposition force perpendicular to the direction of the tool tip.

[0141] Furthermore, the actual force decomposition unit is determined using the following formula:

[0142]

[0143] in, To execute the vertical decomposition force data of the tool tip direction; F e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system;

[0144] The vertical resolution force perpendicular to the direction of the actuating tool tip is determined by the following formula:

[0145]

[0146] in, F is the vertical resolution force data perpendicular to the direction of the tool tip; e Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot end coordinate system and the actuator tool tip coordinate system; θ is the angle between the actual force applied to the actuator and the actuator tool tip direction in the actuator tool tip coordinate system.

[0147] Furthermore, the parameter determination module is specifically used to:

[0148] Obtain the inertia parameters, damping parameters and elastic parameters of the robotic arm;

[0149] Establishing a first-direction second-order compliance control model and a second-direction second-order compliance control model according to the inertia parameter, the damping parameter, the elastic parameter, the first-direction decomposition force, and the second-direction decomposition force, respectively;

[0150] Accordingly, the parameter determination module is further used to:

[0151] Determining a first-direction displacement parameter and a second-direction displacement parameter using the first-direction second-order compliance control model and the second-direction second-order compliance control model;

[0152] The first direction displacement parameter and the second direction displacement parameter are synthesized to obtain the displacement parameter and speed parameter of the robot arm under the action of the actual force data.

[0153] Furthermore, the actual force data determination module also includes a force vector data unit and a torque vector data unit.

[0154] The technical solution provided in this embodiment includes an actual force data determination module for determining the actual force data applied to the actuator using mechanical readings collected by sensors; a spatial posture relationship determination module for determining the spatial posture relationship between the actuator and the end of the robotic arm using a calibration algorithm; an actual force data decomposition module for decomposing the actual force data based on the spatial posture relationship to obtain a first-direction decomposition force and a second-direction decomposition force; and a parameter determination module for establishing second-order compliance control models for the first-direction decomposition force and the second-direction decomposition force, respectively, and using the second-order compliance control models to determine the displacement parameters and velocity parameters of the robotic arm under the action of the actual force data. This solution can solve the current problem of being unable to perform compliant control on the robotic arm. By obtaining the actual force data applied to the actuator, the external force is decomposed, and a second-order compliance control model is established based on the decomposed forces, thereby achieving the purpose of controlling the robotic arm and improving the compliance of the robotic arm control.

[0155] The robotic arm control device in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), an ATM, or an kiosks, etc., which are not specifically limited in the embodiment of the present application.

[0156] The real-time operation and maintenance device for controlling the robotic arm in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0157] The real-time operation and maintenance device for the robotic arm control provided in the embodiment of the present application can achieve Figures 1 to 2 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0158] Example 4

[0159] like Figure 4As shown, an embodiment of the present application also provides an electronic device 400, including a processor 401, a memory 402, and a program or instruction stored in the memory 402 and executable on the processor 401. When the program or instruction is executed by the processor 401, each process of the above-mentioned embodiment of the real-time operation and maintenance method for controlling the robotic arm is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0160] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0161] Example 5

[0162] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned real-time operation and maintenance method embodiment of the robotic arm control are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0163] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0164] Example 6

[0165] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned real-time operation and maintenance method embodiment for controlling the robotic arm, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0166] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0167] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0168] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0169] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0170] The above are only preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that are possible for those skilled in the art will not depart from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include more other equivalent embodiments without departing from the concept of the present application. The scope of the present application is determined by the scope of the claims.

Claims

1. A method for controlling a robotic arm, characterized in that: The end of the robotic arm is provided with an execution tool, and the method comprises: Determine the actual force data applied to the execution tool through the mechanical readings collected by the sensor; Determining the spatial position relationship between the execution tool and the end of the manipulator using a calibration algorithm, including determining the rotational change relationship between the coordinate system of the end of the manipulator and the coordinate system of the tip of the execution tool using the calibration algorithm; Decomposing the actual force data according to the spatial posture relationship to obtain a first-direction decomposition force and a second-direction decomposition force, wherein the decomposition includes decomposing the actual force data according to the rotational change relationship to obtain a vertical decomposition force in the direction of the execution tool needle tip and a vertical decomposition force perpendicular to the direction of the execution tool needle tip, wherein the decomposition includes decomposing the actual force data according to the rotational change relationship matrix, the actual force data, and the angle between the actual force and the execution tool to obtain a vertical decomposition force in the direction of the execution tool needle tip and a vertical decomposition force perpendicular to the direction of the execution tool needle tip, the vertical decomposition force in the direction of the execution tool needle tip being the first-direction decomposition force, and the vertical decomposition force perpendicular to the direction of the execution tool needle tip being the second-direction decomposition force; Second-order compliance control models of the first-direction decomposition force and the second-direction decomposition force are respectively established, and the displacement parameters and speed parameters of the robot arm under the action of actual force data are determined by using the second-order compliance control models.

2. The method according to claim 1, characterized in that The actual force data applied to the tool is determined by the force readings collected by the sensor, including: Determine the equivalent mass of the execution tool using the load identification algorithm of the sensor; determining gravity data of the execution tool according to the equivalent mass; The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data.

3. The method according to claim 2, characterized in that Before determining the actual force data applied to the execution tool based on the difference between the mechanical reading collected by the sensor and the gravity data, the method further includes: Determining zero offset data of the sensor; Accordingly, the actual force data applied to the execution tool is determined based on the difference between the mechanical reading collected by the sensor and the gravity data, including: The actual force data applied to the execution tool is determined according to the difference between the mechanical reading collected by the sensor and the gravity data and the zero offset data.

4. The method according to claim 1, wherein The vertical decomposition force in the direction of the tool tip is determined by the following formula: ； in, To perform vertical decomposition of force data in the direction of the tool tip; Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot arm end coordinate system and the execution tool tip coordinate system; is the angle between the actual force applied to the actuator and the direction of the actuator tip in the actuator tip coordinate system; The vertical resolution perpendicular to the direction of the tool tip is determined by the following formula: ； in, The vertical decomposition force data perpendicular to the direction of the tool tip; Sensor readings of actual force data applied to the implement; is the rotational change relationship between the robot arm end coordinate system and the execution tool tip coordinate system; It is the angle between the actual force applied to the actuator and the direction of the actuator tip in the actuator tip coordinate system.

5. The method according to claim 1, wherein Establishing second-order compliant control models for the first-direction decomposition force and the second-direction decomposition force respectively includes: Obtain the inertia parameters, damping parameters and elastic parameters of the robotic arm; Establishing a first-direction second-order compliance control model and a second-direction second-order compliance control model according to the inertia parameter, the damping parameter, the elastic parameter, the first-direction decomposition force, and the second-direction decomposition force, respectively; Accordingly, the second-order compliant control model is used to determine the displacement parameters and speed parameters of the manipulator under the actual force data, including: Determining a first-direction displacement parameter and a second-direction displacement parameter using the first-direction second-order compliance control model and the second-direction second-order compliance control model; The first direction displacement parameter and the second direction displacement parameter are synthesized to obtain the displacement parameter and speed parameter of the robot arm under the action of the actual force data.

6. The method according to claim 1, characterized in that The force data includes vector data of force and vector data of torque.

7. A robotic arm control device, characterized in that: The end of the robotic arm is provided with an execution tool, and the device comprises: An actual force data determination module, configured to determine actual force data applied to the execution tool through mechanical readings collected by the sensor; A spatial pose relationship determination module is used to determine the spatial pose relationship between the execution tool and the end of the manipulator using a calibration algorithm, including determining the rotational change relationship between the coordinate system of the end of the manipulator and the coordinate system of the tip of the execution tool using the calibration algorithm; an actual force data decomposition module, configured to decompose the actual force data according to the spatial posture relationship to obtain a first-direction decomposition force and a second-direction decomposition force, wherein the module decomposes the actual force data according to the rotational change relationship to obtain a vertical decomposition force in the direction of the execution tool needle tip and a vertical decomposition force perpendicular to the direction of the execution tool needle tip, wherein the module decomposes the actual force data according to the rotational change relationship matrix, the actual force data, and the angle between the actual force and the execution tool to obtain a vertical decomposition force in the direction of the execution tool needle tip and a vertical decomposition force perpendicular to the direction of the execution tool needle tip, wherein the vertical decomposition force in the direction of the execution tool needle tip is the first-direction decomposition force, and the vertical decomposition force perpendicular to the direction of the execution tool needle tip is the second-direction decomposition force; The parameter determination module is used to establish a second-order compliance control model for the first direction decomposition force and the second direction decomposition force respectively, and use the second-order compliance control model to determine the displacement parameters and speed parameters of the robot arm under the action of actual force data.

8. An electronic device, characterized in that: It comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the robot arm control method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the robot arm control method according to any one of claims 1 to 6 are implemented.

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