Robot and its collision protection method, device and storage medium

Abstract

This application relates to the field of robots, and provides a robot, a collision protection method, a device and a storage medium thereof. The method includes: obtaining the collision amplitude of the robotic arm of the robot; when the collision amplitude is less than a predetermined amplitude threshold, controlling the movement of the robotic arm according to the feedforward torque, the feedback torque of the joints of the robotic arm and a predetermined feedback torque amplitude constant; when the collision amplitude is greater than or equal to the predetermined amplitude threshold, controlling the movement of the robotic arm through a zero-force control mode. Thus, when the robotic arm encounters a collision with a relatively small amplitude, it can achieve a compliant response. When the collision amplitude of the robotic arm is greater than or equal to the predetermined amplitude threshold, the collision is minimized to the greatest extent through the zero-force control mode, effectively reducing collision damage and improving the safety of the robot.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular, to a robot, a collision protection method, a device and a storage medium thereof. Background Art

[0002] With the development of intelligent technologies, new requirements have been put forward for the intelligence and safety of robots. For example, during the use of a robot, the robot may collide with an object in the external environment, and collision protection needs to be taken to minimize the damage to the robot and the object in the external environment and maximize the safety of the object and the robot in the external environment.

[0003] In current collision protection methods, external forces are usually estimated first, and then collision detection is performed based on the estimated external forces. When it is estimated that a collision may occur, compliance control is used to avoid the collision. This method requires accurate physical parameters of the mechanism to be obtained in advance. As the size of the mechanism increases, it becomes more and more difficult to obtain accurate physical parameters of the mechanism, and the difficulty of realizing collision detection by estimating external forces also becomes greater and greater, which is not conducive to effectively reducing the damage to the robot and the object in the external environment and is not conducive to ensuring the safety of the robot and the object in the external environment. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a robot, a collision protection method, a device and a storage medium thereof to solve the problems in the prior art that during collision protection, it is not conducive to reducing the damage to the robot and the object in the external environment and is not conducive to ensuring the safety of the robot and the object in the external environment.

[0005] The first aspect of the embodiments of the present application provides a collision protection method for a robot, and the method includes:

[0006] Obtain the collision amplitude of the robotic arm of the robot;

[0007] When the collision amplitude is less than a predetermined amplitude threshold, control the movement of the robotic arm according to the feedforward torque, feedback torque of the joints of the robotic arm and a predetermined feedback torque amplitude constant;

[0008] When the collision amplitude is greater than or equal to the predetermined amplitude threshold, control the movement of the robotic arm through a zero-force control mode.

[0009] In combination with the first aspect, in the first possible implementation manner of the first aspect, when the collision amplitude is less than a predetermined amplitude threshold, controlling the movement of the robotic arm according to the feedforward torque, feedback torque of the joints of the robotic arm and a predetermined feedback torque amplitude constant includes:

[0010] When the absolute value of the feedback torque is less than a preset feedback torque amplitude constant, control the movement of the robotic arm according to the feedforward torque and the feedback torque;

[0011] When the absolute value of the feedback torque is greater than or equal to the preset feedback torque amplitude constant, control the movement of the robotic arm according to the feedforward torque and the feedback torque amplitude constant.

[0012] Combined with the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, when the absolute value of the feedback torque is greater than or equal to the preset feedback torque amplitude constant, controlling the movement of the robotic arm according to the feedforward torque and the feedback torque amplitude constant includes:

[0013] When the feedback torque is greater than or equal to the preset feedback torque amplitude constant, control the movement of the robotic arm according to the sum of the feedforward torque and the feedback torque amplitude constant;

[0014] When the feedback torque is less than or equal to the negative value of the preset feedback torque amplitude constant, control the movement of the robotic arm according to the difference between the feedforward torque and the feedback torque amplitude constant.

[0015] Combined with the first aspect, in the third possible implementation manner of the first aspect, controlling the movement of the robotic arm through a zero-force control mode includes:

[0016] Control the movement of the robotic arm according to the gravity compensation torque of the joint and the damping torque of the joint.

[0017] Combined with the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, controlling the movement of the robotic arm according to the gravity compensation torque of the joint and the damping torque of the joint includes:

[0018] Control the movement of the robotic arm according to the sum of the gravity compensation torque of the joint and the damping force resistance.

[0019] Combined with the third possible implementation manner of the first aspect, in the fifth possible implementation manner of the first aspect, the damping torque is determined according to the joint speed and the damping coefficient of the joint, and the gravity compensation torque is calculated according to the inverse dynamics model of the joint.

[0020] Combined with the first aspect, in the sixth possible implementation manner of the first aspect, obtaining the collision amplitude of the robotic arm of the robot includes:

[0021] Obtain the actual position of the joint and obtain the desired position of the joint;

[0022] Determine the collision amplitude of the robotic arm according to the actual position and the desired position of the joint.

[0023] The second aspect of the embodiments of the present application provides a collision protection device for a robot, the device includes:

[0024] A collision amplitude acquisition unit, configured to acquire the collision amplitude of the robotic arm of the robot;

[0025] A first control unit, configured to, when the collision amplitude is less than a predetermined amplitude threshold, control the movement of the robotic arm according to the feedforward torque, the feedback torque and a predetermined feedback torque amplitude constant of the joints of the robotic arm;

[0026] A second control unit, configured to, when the collision amplitude is greater than or equal to the predetermined amplitude threshold, control the movement of the robotic arm through a zero-force control mode.

[0027] The third aspect of the embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method according to any one of the first aspect are implemented.

[0028] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0029] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: When the present application performs collision protection on a robot, the collision amplitude of the robotic arm of the robot is compared with a predetermined amplitude threshold. When the collision amplitude of the robotic arm of the robot is less than the amplitude threshold, the movement of the robotic arm is controlled by the feedforward torque, the feedback torque and a predetermined feedback torque amplitude constant, so that when the robotic arm encounters a collision with a small amplitude, a compliant response can be achieved; when the collision amplitude of the robotic arm is greater than or equal to the predetermined amplitude threshold, the zero-force control mode is adopted to minimize the collision to effectively reduce the damage of the rigid collision to the robot or the external environmental object and improve the safety of the robot and the external environmental object. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1It is a schematic diagram of the implementation process of a collision protection method for a robot provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of the implementation process of another collision protection method for a robot provided by an embodiment of the present application;

[0033] Figure 3 It is a schematic diagram of a collision protection device for a robot provided by an embodiment of the present application;

[0034] Figure 4 It is a schematic diagram of a robot provided by an embodiment of the present application. Detailed implementation manners

[0035] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0036] In the collision protection method for the robotic arm of a robot, if the external force estimation method is used for collision detection, it is necessary to obtain accurate mechanism parameters of the robotic arm in advance, including information such as the pose and dimensions of the robotic arm. As the size of the mechanism increases, it becomes more and more difficult to obtain accurate physical parameters of the mechanism, and the difficulty of realizing collision detection by estimating external forces also becomes greater and greater, which is not conducive to effectively reducing the damage degree of the robot and objects in the external environment, and is not conducive to ensuring the safety of the robot and objects in the external environment.

[0037] Based on the above problems, an embodiment of the present application proposes a collision protection method for a robot, as Figure 1 shown, the method includes:

[0038] In S101, obtain the collision amplitude of the robotic arm of the robot.

[0039] Among them, the collision amplitude of the robotic arm of the robot can be dynamically obtained during the movement of the robot. For example Figure 2 as shown in the collision protection flow chart, the collision amplitude can be determined according to the actual position and the desired position of the robotic arm of the robot, and based on this collision amplitude, it is determined whether the joint exceeds the desired motion space.

[0040] Among them, the desired position x of each joint of the robotic arm of the robot can be obtained according to the control parameters of the movement of the robot eAccording to the set sensors, including displacement sensors, image sensors, and / or depth sensors, etc., obtain the actual position x of each joint of the robotic arm cur Based on the obtained desired position x of the joint e and the actual position x cur , determine the collision amplitude of the robotic arm of the robot. For example, the magnitude of the distance deviation between the desired position x e and the actual position x cur can be determined as the collision amplitude of the robotic arm

[0041] In a possible implementation, it is also possible to estimate the actual position x of the joint within a future predetermined time duration based on the current motion state and control instructions cur , and according to the difference between the estimated actual position x cur and the desired position, estimate the collision amplitude of the robotic arm of the robot

[0042] When the robotic arm of the same robot includes multiple joints, the collision amplitude of each joint can be obtained separately. Based on the obtained collision amplitude, determine whether the joint is within the desired motion space

[0043] In S102, when the collision amplitude is less than a predetermined amplitude threshold, control the motion of the robotic arm according to the feedforward torque, feedback torque, and a predetermined feedback torque amplitude constant of the joints of the robotic arm

[0044] After obtaining the collision amplitude of the joints of the robotic arm of the robot, compare this collision amplitude with a pre-set amplitude threshold. If this collision amplitude is less than the predetermined amplitude threshold, it indicates that the deviation between the current position and the desired position is less than the predetermined deviation, and the joints of the robotic arm do not exceed the predetermined desired motion space. At this time, the motion of the robotic arm can be controlled according to the feedforward torque, feedback torque, and a predetermined feedback torque amplitude constant of the joints of the robotic arm, so that when the robotic arm encounters a small collision, such as a collision with a degree less than the predetermined degree threshold, it can generate a compliant response in a timely manner

[0045] For example, the distance deviation between the desired position x e and the actual position x cur of the joint can be calculated. If this distance deviation is less than the predetermined deviation threshold, it can be considered that the collision amplitude of the joint is less than the preset amplitude threshold, and the position of the robotic arm does not exceed the desired motion space. The motion of the robotic arm can be controlled according to the feedforward torque τ ff , feedback torque τ fb and a predetermined feedback torque amplitude constant τ a of the joints of the robotic arm. After limiting the amplitude according to the magnitude of the feedforward torque of the joint, the robotic arm can generate a compliant response in a timely manner when encountering a small collision

[0046] Among them, the feedforward torque τ of the joints of the robotic arm ff can be obtained through inverse dynamics analysis based on the desired joint variables q e (including, for example, desired angles and / or desired displacements), the desired velocity v e and the desired acceleration a e . The feedback torque τ of the joints of the robotic arm fb can be obtained through proportional-derivative calculation based on the desired joint variables q e (including, for example, desired angles and / or desired displacements), the desired velocity v e , combined with the current joint variables q cur (including, for example, current angles and / or current displacements) and the current joint velocity v cur .

[0047] After determining the feedforward torque τ ff and the feedback torque τ fb of the joints of the robotic arm, combined with the preset feedback torque amplitude constant τ a , the control torque τ e to be sent to the motors of each joint can be determined. Among them, the feedback torque amplitude constant τ a can adjust the level of compliant response, and the value of the feedback torque amplitude constant τ a can be determined according to experimental data statistics.

[0048] When the collision amplitude is less than the predetermined amplitude threshold, before determining the control torque τ e to be sent to the motors of each joint, the absolute value of the feedback torque can be compared with the preset feedback torque amplitude constant first. If the absolute value of the feedback torque is less than the preset feedback torque amplitude constant, the control torque τ ff of the joint can be determined based on the feedforward torque τ fb and the said feedback torque τ e for controlling the movement of the said robotic arm. For example Figure 2 as shown, the sum of the feedforward torque τ ff and the said feedback torque τ fb can be used as the control torque τ e of the joint to control the movement of the said robotic arm.

[0049] If the absolute value of the feedback torque is greater than or equal to the preset feedback torque amplitude constant, the control torque τ ff of the joint can be determined based on the feedforward torque τ a and the feedback torque amplitude constant τ e .

[0050] For example, when the feedback torque τ fbGreater than or equal to the preset feedback torque amplitude constant τ a When it is, the feedforward torque τ ff and the feedback torque amplitude constant τ a The sum value of is used as the control torque τ e of the joint to control the movement of the servo of the robotic arm.

[0051] When the feedback torque τ fb is less than or equal to the negative value of the preset feedback torque amplitude constant τ a , the difference between the feedforward torque τ ff and the feedback torque amplitude constant τ a is used as the control torque τ e of the joint to control the movement of the servo of the robotic arm.

[0052] As Figure 2 shown, when the collision amplitude is less than the predetermined amplitude threshold, the control torque τ e of each joint can be expressed as:

[0053]

[0054] Among them, τ fb is the feedback torque of the joint, τ ff is the feedforward torque of the joint, τ e is the control torque of the joint, τ a is the feedback torque amplitude constant of the joint. Based on this calculation formula, the control torque τ e of each joint can be obtained.

[0055] That is, when the absolute value of the feedforward torque |τ fb | is small, calculate the sum of the feedforward torque τ ff and the feedback torque τ fb to determine the control torque τ e of the joint. When the absolute value of the feedforward torque |τ fb | is large, if the feedforward torque τ ff is greater than the feedback torque amplitude constant τ a , then according to the sum of the feedforward torque τ ff and the feedback torque amplitude constant τ a to determine the control torque τ e of the joint. If the feedforward torque τ ff is less than the negative value of the feedback torque amplitude constant -τ a , then according to the difference between the feedforward torque τ ff and the feedback torque amplitude constant τ a to determine the control torque τ e of the joint.

[0056] In S103, when the collision amplitude is greater than or equal to the predetermined amplitude threshold, the movement of the robotic arm is controlled by a zero-force control mode.

[0057] When the collision amplitude is greater than or equal to the predetermined amplitude threshold, it can be understood that the collision degree of the joints of the robotic arm is greater than or equal to the predetermined degree threshold, or the displacement deviation between the actual position and the desired position of the joints of the robotic arm exceeds the predetermined deviation threshold, or the position of the joints of the robotic arm is outside the desired motion space. At this time, a relatively large amplitude collision may occur to the robotic arm, and the movement of the robotic arm can be controlled by the zero-force control mode.

[0058] Among them, when the zero-force control mode controls the movement of the robotic arm, it may include, according to the gravity compensation torque τ of the joints g and the damping torque τ of the joints v to control the movement of the robotic arm.

[0059] Among them, the gravity compensation torque τ of the joints g can be obtained through inverse dynamics analysis according to the current joint variables (the angle and / or displacement of the joints), and in the state where the joint velocity is 0 and the joint acceleration is 0, to obtain the gravity compensation torque τ corresponding to the joints g , which is used to compensate for the gravity torque generated by the gravity received by the joints.

[0060] Among them, the damping torque τ of the joints v can be determined according to the current velocity of the joints and the damping coefficient of the joints. For example, the damping torque can be the current velocity multiplied by the damping coefficient. The damping torque can be used to compensate for the acting force generated by the movement velocity of the joints.

[0061] Sum the determined damping torque τ v and the gravity compensation torque τ g to obtain the control torque τ of the joints e . According to this control torque, it can be used to compensate for the gravity and movement acting forces of the joints, so that the joints are in the zero-force control mode of zero-force balance, which can minimize the rigid collision generated by the robotic arm, reduce the degree of collision damage, and improve the use safety.

[0062] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0063] Figure 3 is a schematic diagram of a collision protection device for a robot provided by an embodiment of the present application. As Figure 3 shown, the device includes:

[0064] A collision amplitude acquisition unit 301 is configured to acquire the collision amplitude of the robotic arm of the robot.

[0065] A first control unit 302 is configured to, when the collision amplitude is less than a predetermined amplitude threshold, control the movement of the robotic arm 303 according to the feedforward torque, feedback torque of the joints of the robotic arm, and a predetermined feedback torque amplitude constant.

[0066] A second control unit is configured to, when the collision amplitude is greater than or equal to the predetermined amplitude threshold, control the movement of the robotic arm through a zero-force control mode.

[0067] Figure 3 The collision protection device of the shown robot corresponds to Figure 1 the shown robot collision protection method.

[0068] Figure 4 is a schematic diagram of a robot provided by an embodiment of the present application. As Figure 4 shown, the robot 4 of this embodiment includes: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40, such as a collision protection program of the robot. When the processor 40 executes the computer program 42, the steps in the above-mentioned embodiments of the collision protection method of each robot are implemented. Alternatively, when the processor 40 executes the computer program 42, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0069] Exemplarily, the computer program 42 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 41 and executed by the processor 40 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 42 in the robot 4.

[0070] The robot may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art can understand that Figure 4 merely examples of the robot 4 do not constitute a limitation on the robot 4, and it may include more or fewer components than shown, or combine certain components, or different components. For example, the robot may further include input / output devices, network access devices, buses, etc.

[0071] The so-called processor 40 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0072] The memory 41 may be an internal storage unit of the robot 4, such as the hard disk or memory of the robot 4. The memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk equipped on the robot 4, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 41 may also include both the internal storage unit of the robot 4 and the external storage device. The memory 41 is used to store the computer program and other programs and data required by the robot. The memory 41 may also be used to temporarily store the data that has been output or will be output.

[0073] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be described in detail here.

[0074] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0076] In the embodiments provided in this application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0077] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, the functional units in each embodiment of this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0079] When the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0080] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A collision protection method for a robot, characterized in that, The method includes: Based on the distance deviation between the desired position and the actual position of each joint of the robotic arm of the robot, obtaining the collision amplitude of the robotic arm of the robot, and comparing the collision amplitude with a preset amplitude threshold; When the collision amplitude is less than the preset amplitude threshold, controlling the movement of the robotic arm according to the feedforward torque, feedback torque of the joints of the robotic arm and a preset feedback torque amplitude constant. When the absolute value of the feedback torque is less than the preset feedback torque amplitude constant, controlling the movement of the robotic arm according to the sum of the feedforward torque and the feedback torque; when the feedback torque is greater than or equal to the preset feedback torque amplitude constant, controlling the movement of the robotic arm according to the sum of the feedforward torque and the feedback torque amplitude constant; when the feedback torque is less than or equal to the negative value of the preset feedback torque amplitude constant, controlling the movement of the robotic arm according to the difference between the feedforward torque and the feedback torque amplitude constant; When the collision amplitude is greater than or equal to the preset amplitude threshold, controlling the movement of the robotic arm through a zero-force control mode, and controlling the movement of the robotic arm according to the sum of the gravity compensation torque and the damping torque of the joints.

2. The method according to claim 1, characterized in that, The damping torque is determined according to the joint speed and the damping coefficient of the joint, and the gravity compensation torque is calculated according to the inverse dynamics model of the joint.

3. A collision protection device for a robot, characterized in that, The device includes: A collision amplitude acquisition unit, configured to obtain the collision amplitude of the robotic arm of the robot based on the distance deviation between the desired position and the actual position of each joint of the robotic arm of the robot, and compare the collision amplitude with a preset amplitude threshold; A first control unit, configured to, when the collision amplitude is less than the preset amplitude threshold, control the movement of the robotic arm according to the feedforward torque, feedback torque of the joints of the robotic arm and a preset feedback torque amplitude constant. When the absolute value of the feedback torque is less than the preset feedback torque amplitude constant, control the movement of the robotic arm according to the sum of the feedforward torque and the feedback torque; when the feedback torque is greater than or equal to the preset feedback torque amplitude constant, control the movement of the robotic arm according to the sum of the feedforward torque and the feedback torque amplitude constant; when the feedback torque is less than or equal to the negative value of the preset feedback torque amplitude constant, control the movement of the robotic arm according to the difference between the feedforward torque and the feedback torque amplitude constant; A second control unit, configured to, when the collision amplitude is greater than or equal to the preset amplitude threshold, control the movement of the robotic arm through a zero-force control mode, and control the movement of the robotic arm according to the sum of the gravity compensation torque and the damping force resistance of the joints.

4. A robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 2 are implemented.

Images