Method for tuning control parameters of robotic arm and robotic arm control system

Abstract

The present invention provides a method for tuning the control parameters of a robotic arm, a robotic arm control system, a surgical robot, an electronic device, and a readable storage medium. The method includes: obtaining the motor parameters of each joint of the robotic arm; obtaining the theoretical speed loop bandwidth according to the motor parameters of the joint, and obtaining the theoretical control parameters and excitation signal parameters according to the motor parameters of the joint and the theoretical speed loop bandwidth; setting the control mode of the servo driver to the speed mode, and sending a corresponding speed command to the servo driver according to the excitation signal parameters to control the servo motor to perform corresponding movements, so as to self-tune the control parameters of the joint according to the speed response of the servo motor. The present invention can be independent of the empirical method. Only by inputting relevant servo system parameters, automatic parameter tuning can be carried out. Only one to two tests are required for each joint to obtain the corresponding results, and there is no need to adjust the parameters and test multiple times.

Description

Technical Field

[0001] The present invention relates to the technical field of robotics, and particularly to a method for tuning control parameters of a robotic arm and a robotic arm control system. Background Art

[0002] A multi-joint robotic arm control system is a complex mechatronic system, generally having 6 or more joints. Each joint includes a set of servo systems, and a set of servo systems consists of a servo motor and a servo driver. All joint components are linked to adjust the movement of the robotic arm. The servo

[0003] system of each joint needs to be specifically debugged for its control parameters, and the multi-joint robotic arm system needs to be parameter-tuned according to the characteristics of the servo systems of each joint. For the traditional parameter debugging of a robotic arm system, generally, control parameters are designed by the empirical method, and an excitation signal is given as a speed command, and the feedback speed curve is observed. After multiple parameter adjustments and tests, a relatively better result can be obtained. The traditional method for parameter debugging of a robotic arm system has the following problems:

[0004] 1. The empirical method requires a certain level of knowledge and experience, and has relatively high requirements for operators;

[0005] 2. In the selection of control parameters, it is necessary to rely on human experience for prediction, and continuous parameter adjustment and testing are required, so it takes a long time;

[0006] 3. The parameter values often can only be mainly obtained by trial and error, and it is difficult to achieve relatively better performance, which easily causes waste of motor performance or instability of the controller.

[0007] It should be noted that the information disclosed in the background art part of this invention is only intended to deepen the understanding of the general background art of this invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of the present invention is to provide a method for tuning control parameters of a robotic arm, a robotic arm control system, and an electronic device, which can be independent of the empirical method. Only by inputting relevant servo system parameters, automatic parameter tuning can be performed, and corresponding results can be obtained with only one or two tests for each joint, without the need for multiple parameter adjustments and tests.

[0009] To achieve the above purpose, the present invention provides a method for tuning control parameters of a robotic arm, including:

[0010] Obtaining the motor parameters of each joint of the robotic arm;

[0011] For each of the joints, obtain the theoretical speed loop bandwidth of the joint according to the motor parameters of the joint, and obtain the theoretical control parameters and excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint; and

[0012] Perform the following operations on each of the joints in sequence:

[0013] Set the control mode of the servo driver of the joint to the speed mode, and send a corresponding speed command to the servo driver of the joint according to the excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movements according to the speed command and the theoretical control parameters of the joint, and perform self-tuning on the control parameters of the joint according to the speed response of the servo motor, so as to obtain the self-tuning control parameters of the joint.

[0014] Optionally, the obtained motor parameters include at least one of the rated current of the motor, the maximum overload current of the motor, the design overload multiple, the motor inertia, the line resistance, the line inductance, the torque coefficient, and the rated speed.

[0015] Optionally, obtaining the theoretical speed loop bandwidth of the joint according to the motor parameters of the joint includes:

[0016] Obtain the correction factor of the joint according to the design overload multiple, the maximum overload current of the motor, and the rated current of the motor of the joint;

[0017] Obtain the mechanical time constant of the joint according to the motor inertia, the line resistance, and the torque coefficient of the joint;

[0018] Obtain the theoretical speed loop bandwidth of the joint according to the ratio of the correction factor and the mechanical time constant of the joint.

[0019] Optionally, the control parameters of the joint include speed loop control parameters and current loop control parameters;

[0020] Obtaining the theoretical control parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes:

[0021] Obtain the theoretical speed loop control parameters of the joint according to the theoretical speed loop bandwidth, the motor inertia, and the torque coefficient of the joint; and

[0022] Obtain the theoretical current loop control parameters of the joint according to the theoretical speed loop bandwidth, the line resistance, and the line inductance of the joint.

[0023] Optionally, obtaining the excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes:

[0024] Determine the excitation signal parameters of the joint according to the theoretical speed loop bandwidth of the joint and the rated speed of the joint. Among them, the highest frequency of the excitation signal of the joint does not exceed 2 times the theoretical speed loop bandwidth of the joint, and the amplitude of the excitation signal of the joint is 0.05 to 0.1 times the rated speed of the joint.

[0025] Optionally, the self-tuning of the control parameters of the joint according to the speed response of the servo motor to obtain the self-tuning control parameters of the joint includes:

[0026] Obtain the actual speed of the servo motor during movement, and obtain the actual speed loop bandwidth of the joint according to the actual speed and the corresponding commanded speed.

[0027] Adjust the control parameters of the joint according to the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint to obtain the self-tuning control parameters of the joint.

[0028] Optionally, the adjusting the control parameters of the joint according to the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint to obtain the self-tuning control parameters of the joint includes:

[0029] Judge whether the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than a preset threshold;

[0030] If so, use the theoretical control parameters of the joint as the self-tuning control parameters of the joint;

[0031] If not, perform the following operations on the joint:

[0032] Use the actual speed loop bandwidth of the joint as the new theoretical speed loop bandwidth, and update the theoretical control parameters and excitation signal parameters of the joint according to the updated theoretical speed loop bandwidth and motor parameters of the joint;

[0033] Send a corresponding speed command to the servo driver of the joint according to the updated excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movement according to the speed command and the updated theoretical control parameters;

[0034] Obtain the actual speed of the servo motor during movement, and obtain the actual speed loop bandwidth of the joint according to the actual speed of the servo motor of the joint during movement and the corresponding commanded speed;

[0035] Repeat all the above steps until the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than the preset threshold.

[0036] Optionally, the tuning method further includes:

[0037] According to the self-tuning control parameters of each joint and the speed loop bandwidth and excitation signal parameters corresponding to the self-tuning control parameters, control the servo motors of each joint of the robotic arm to perform corresponding movements, so as to perform overall tuning on the control parameters of each joint according to the speed response of each servo motor, thereby obtaining the overall tuning control parameters of each joint.

[0038] To achieve the above object, the present invention further provides a robotic arm control system, including a parameter input module, a host computer controller, and a joint servo driver module. The parameter input module and the joint servo driver module are both communicatively connected to the host computer controller;

[0039] The parameter input module is configured to receive the input operation of the motor parameters of each joint of the robotic arm;

[0040] The host computer controller is configured to implement the robotic arm control parameter tuning method described above;

[0041] The joint servo driver module is configured to control the robotic arm to perform corresponding movements according to the control instructions issued by the host computer controller. The joint servo driver module includes a plurality of joint servo drivers.

[0042] To achieve the above object, the present invention further provides a surgical robot. The control parameters of each robotic arm of the surgical robot are all tuned by using the robotic arm control parameter tuning method described above; and / or the surgical robot includes the robotic arm control system described above.

[0043] To achieve the above object, the present invention further provides an electronic device, including a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the robotic arm control parameter tuning method described above is implemented.

[0044] To achieve the above object, the present invention further provides a readable storage medium. A computer program is stored in the readable storage medium. When the computer program is executed by a processor, the robotic arm control parameter tuning method described above is implemented.

[0045] Compared with the prior art, the robotic arm control parameter tuning method, robotic arm control system, surgical robot, electronic device, and readable storage medium provided by the present invention have the following advantages:

[0046] The method for tuning the control parameters of the robotic arm provided by the present invention first obtains the motor parameters of each joint of the robotic arm; then for each joint, according to the motor parameters of the joint, the theoretical speed loop bandwidth of the joint is obtained, and according to the motor parameters and the theoretical speed loop bandwidth of the joint, the theoretical control parameters and excitation signal parameters of the joint are obtained; then the following operations are sequentially performed on each joint: setting the control mode of the servo driver of the joint to the speed mode; sending a corresponding speed command to the servo driver of the joint according to the excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movements according to the speed command and the theoretical control parameters of the joint, so as to self-tune the control parameters of the joint according to the speed response of the servo motor, thereby obtaining the self-tuning control parameters of the joint. Thus, the method for tuning the control parameters of the robotic arm provided by the present invention does not rely on the empirical method. Only by inputting the relevant servo system parameters (i.e., motor parameters), the automatic tuning of the control parameters can be carried out. Since the design of the theoretical speed loop bandwidth, the theoretical control parameters and the excitation signal parameters in the present invention has a theoretical basis, not only the tuning effect of the control parameters is optimized, but also only one or two tests are required for each joint to obtain the corresponding self-tuning control parameters, without multiple parameter debugging and testing, effectively saving time. Description of the Drawings

[0047] Figure 1 It is a schematic diagram of the overall flow of the method for tuning the control parameters of the robotic arm provided by an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of the specific flow of tuning the control parameters of each joint of the robotic arm provided by an embodiment of the present invention;

[0049] Figure 3 It is a control loop diagram of the servo system;

[0050] Figure 4 It is a schematic diagram of the self-tuning process of the control parameters of a single joint provided by an embodiment of the present invention;

[0051] Figure 5 It is a single-joint current loop simulation step diagram after tuning by using the method for tuning the control parameters of the robotic arm provided by the present invention;

[0052] Figure 6 It is a single-joint speed loop simulation step diagram after tuning by using the method for tuning the control parameters of the robotic arm provided by the present invention;

[0053] Figure 7 It is a single-joint actual speed step diagram after tuning by using the method for tuning the control parameters of the robotic arm provided by the present invention;

[0054] Figure 8 The figure shows the actual load change and rotational speed response of a single joint after tuning with the robotic arm control parameter tuning method provided by the present invention;

[0055] Figure 9 It is a simple control model of the robotic arm;

[0056] Figure 10 It is a trajectory diagram of the multi-joint speed excitation signal;

[0057] Figure 11a It is the Bode plot of the speed loop of the robotic arm under a small inertia load after tuning with the robotic arm control parameter tuning method provided by the present invention;

[0058] Figure 11b It is the Bode plot of the speed loop of the robotic arm under a medium inertia load after tuning with the robotic arm control parameter tuning method provided by the present invention;

[0059] Figure 11c It is the Bode plot of the speed loop of the robotic arm under a large inertia load after tuning with the robotic arm control parameter tuning method provided by the present invention;

[0060] Figure 12 It is the structural block diagram of the robotic arm control system according to an embodiment of the present invention;

[0061] Figure 13 It is the flowchart of the servo system parameter initialization provided by an embodiment of the present invention;

[0062] Figure 14 It is the data interaction diagram between the host computer controller and the joint servo driver;

[0063] Figure 15 It is a schematic diagram of the application scenario of a surgical robot for orthopedic surgery;

[0064] Figure 16 For Figure 15 It is a schematic diagram of the robotic arm subsystem in the surgical robot shown;

[0065] Figure 17 It is a schematic block diagram of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0066] The following further elaborates in detail on the method for tuning the control parameters of a robotic arm, the robotic arm control system, the surgical robot, the electronic device, and the readable storage medium proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are in a very simplified form and use non-precise scales, only for the convenience and clarity of assisting in explaining the purpose provided by the present invention. In order to make the purpose, features, and advantages of the present invention more obvious and understandable, please refer to the accompanying drawings. It should be known that the structures, scales, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship, or adjustment of the size, in the case of being the same or similar to the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed by the present invention.

[0067] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including the said element.

[0068] In addition, in the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0069] The core idea of the present invention is to provide a method for tuning the control parameters of a robotic arm, a robotic arm control system, a surgical robot, an electronic device, and a readable storage medium. Without relying on empirical methods, relevant servo system parameters can be input to perform automatic parameter tuning. For each joint, only one or two tests are required to obtain the corresponding results, and there is no need to repeatedly adjust parameters and conduct tests.

[0070] It should be noted that, as can be understood by those skilled in the art, the method for tuning the control parameters of the robotic arm provided by the present invention can be applied to the robotic arm control system and the electronic device provided by the present invention. The robotic arm control system and the electronic device provided by the present invention can be applied to the surgical robot provided by the present invention. Among them, the electronic device provided by the present invention can be a personal computer, a mobile terminal, etc. The mobile terminal can be a hardware device such as a mobile phone or a tablet computer with various operating systems. The surgical robot provided by the present invention includes but is not limited to an orthopedic joint surgical robot. In addition, it should also be noted that, as can be understood by those skilled in the art, the "proximal end" referred to in the present invention means the end close to the operator, and the "distal end" means the end close to the patient.

[0071] To achieve the above idea, the present invention provides a method for tuning the control parameters of a robotic arm. Please refer to Figure 1 , the method for tuning the control parameters of the robotic arm provided by the present invention includes the following steps:

[0072] Step S100: Obtain the motor parameters of each joint of the robotic arm.

[0073] Step S200: For each joint, according to the motor parameters of the joint, obtain the theoretical speed loop bandwidth of the joint, and obtain the theoretical control parameters and excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint.

[0074] Step S300: Perform the following operations on each joint in sequence: Set the control mode of the servo driver of the joint to the speed mode, and send a corresponding speed command to the servo driver of the joint according to the excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movements according to the speed command and the theoretical control parameters of the joint, and perform self-tuning of the control parameters of the joint according to the speed response of the servo motor, so as to obtain the self-tuning control parameters of the joint.

[0075] Therefore, the method for tuning the manipulator control parameters provided by the present invention does not rely on the empirical method. Only by inputting the relevant servo system parameters (i.e., motor parameters), the automatic tuning of the control parameters can be carried out. Since the design of the theoretical speed loop bandwidth, the theoretical control parameters, and the excitation signal parameters in the present invention has a theoretical basis, not only the tuning effect of the control parameters is optimized, but also only one or two tests are required for each joint to obtain the corresponding self-tuning control parameters, without the need for multiple parameter debugging and testing, effectively saving time.

[0076] Please continue to refer to Figure 2 , assuming that the manipulator includes N joints connected in sequence. In the actual tuning process, it can start from the first joint. First, according to the motor parameters of the first joint, calculate the theoretical speed loop bandwidth, the theoretical control parameters, and the excitation signal parameters of the first joint. Then, set the control mode of the servo driver of the first joint to the speed mode, and control the servo motor of the first joint to perform corresponding movements according to the theoretical speed loop bandwidth, the theoretical control parameters, and the excitation signal parameters of the first joint (the servo motors of other joints do not move) until the self-tuning of the control parameters of the first joint is completed. After obtaining the self-tuning control parameters of the first joint, calculate the theoretical speed loop bandwidth, the theoretical control parameters, and the excitation signal parameters of the second joint according to the motor parameters of the second joint. Then, set the control mode of the servo driver of the second joint to the speed mode, and control the servo motor of the second joint to perform corresponding movements according to the theoretical speed loop bandwidth, the theoretical control parameters, and the excitation signal parameters of the first joint (the servo motors of other joints do not move) until the self-tuning of the control parameters of the second joint is completed. And so on, until the self-tuning of the control parameters of the Nth joint is completed.

[0077] In an exemplary embodiment, the obtained motor parameters include at least one of the motor rated current, the motor maximum overload current, the design overload multiple, the motor inertia, the line resistance, the line inductance, the torque coefficient, and the rated speed. Preferably, the obtained motor parameters include all of the above parameters.

[0078] In an exemplary embodiment, the obtaining the theoretical speed loop bandwidth of the joint according to the motor parameters of the joint includes:

[0079] Obtaining the correction coefficient of the joint according to the design overload multiple, the motor maximum overload current, and the motor rated current of the joint;

[0080] Obtaining the mechanical time constant of the joint according to the motor inertia, the line resistance, and the torque coefficient of the joint;

[0081] Obtaining the theoretical speed loop bandwidth of the joint according to the ratio of the correction coefficient and the mechanical time constant of the joint.

[0082] Specifically, assume that the design overload multiple of the joint is N, and the maximum overload current of the motor is I nominal , and the rated current of the motor is I max , then the correction coefficient K of the joint can be calculated by the following formula (1):

[0083]

[0084] Assume that the inertia of the motor of the joint is J, the line resistance is R, and the torque coefficient is K T , then the time mechanical constant τ of the joint can be calculated by the following formula (2):

[0085]

[0086] After calculating the correction coefficient K and the time mechanical constant τ of the joint, the theoretical speed loop bandwidth f of the joint can be calculated by the following formula (3) spd-theory :[[]]END]]

[0087]

[0088] In an exemplary embodiment, the control parameters of the joint include speed loop control parameters and current loop control parameters. Obtaining the theoretical control parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes:

[0089] Obtaining the theoretical speed loop control parameters of the joint according to the theoretical speed loop bandwidth, the inertia of the motor and the torque coefficient of the joint; and

[0090] Obtaining the theoretical current loop control parameters of the joint according to the theoretical speed loop bandwidth, the line resistance and the line inductance of the joint.

[0091] Correspondingly, self-tuning the control parameters of the joint according to the speed response of the servo motor to obtain the self-tuning control parameters of the joint includes:

[0092] Tuning the speed loop control parameters and the current loop control parameters of the joint to obtain the self-tuning speed loop control parameters and the self-tuning current loop control parameters of the joint.

[0093] Thus, by tuning the speed loop control parameters and the current loop control parameters of the joint simultaneously, it can effectively ensure that the servo system of the joint can achieve better performance and avoid wasting the performance of the servo motor of the joint or instability of the servo driver.

[0094] Please continue to refer to Figure 3, the speed loop compares the commanded speed with the actual speed through a tachometer or encoder and issues commands to increase or decrease the motor speed accordingly. The speed loop control parameters include the speed loop proportional gain K sp and the speed loop integral gain K si . The main function of the current loop is to control torque, which affects speed. The current loop is usually nested within the speed loop. The current loop control parameters include the current loop proportional gain K cp and the current loop integral gain K ci .

[0095] Furthermore, obtaining the theoretical speed loop control parameters of the joint according to the theoretical speed loop bandwidth of the joint, the motor inertia, and the torque coefficient of the joint includes:

[0096] Calculating the theoretical speed loop proportional gain of the joint according to the theoretical speed loop bandwidth of the joint, the motor inertia, and the torque coefficient of the joint;

[0097] Calculating the theoretical speed loop integral gain of the joint according to the theoretical speed loop proportional gain of the joint, the theoretical speed loop bandwidth, and a preset proportional constant.

[0098] Specifically, after calculating the theoretical speed loop bandwidth f spd-theory of the joint, the speed loop proportional gain K sp of the joint can be calculated according to the following formula (4):

[0099]

[0100] where J is the motor inertia of the joint, and K T is the torque coefficient of the joint.

[0101] After calculating the speed loop proportional gain K sp of the joint, the speed loop integral gain K si of the joint can be calculated according to the following formula (5):

[0102]

[0103] where K a is the preset proportional constant, and K a is greater than or equal to 5.

[0104] Furthermore, obtaining the theoretical current loop control parameters of the joint according to the theoretical speed loop bandwidth of the joint, the line resistance, and the line inductance of the joint includes:

[0105] Calculating the theoretical current loop bandwidth of the joint according to the theoretical speed loop bandwidth of the joint and the preset proportional constant;

[0106] Calculate the theoretical current loop proportional gain of the joint according to the theoretical current loop bandwidth and line inductance of the joint;

[0107] Calculate the theoretical current loop integral gain of the joint according to the theoretical current loop bandwidth and line resistance of the joint.

[0108] Specifically, after calculating the theoretical speed loop bandwidth f spd-theory of the joint, the theoretical current loop bandwidth f cur-theory of the joint can be calculated according to the following formula (6):

[0109] f cur-theory = K a × f spd-theory (6)

[0110] where K a is a preset proportional constant, and K a is greater than or equal to 5.

[0111] After calculating the theoretical current loop bandwidth f cur-theory of the joint, the theoretical current loop proportional gain K cp of the joint can be calculated according to the following formula (7), and the theoretical current loop integral gain K ci of the joint can be calculated according to the following formula (8):

[0112] K cp = 2πLf cur-theory (7)

[0113] K ci = 2πRf cur-theory (8)

[0114] where L is the line inductance of the joint and R is the line resistance of the joint.

[0115] In an exemplary embodiment, obtaining the excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes:

[0116] Determine the excitation signal parameters of the joint according to the theoretical speed loop bandwidth of the joint and the rated speed of the joint, where the highest frequency of the excitation signal of the joint does not exceed 2 times the theoretical speed loop bandwidth of the joint, and the amplitude of the excitation signal of the joint is 0.05 times to 0.1 times the rated speed of the joint.

[0117] In an exemplary embodiment, self-tuning the control parameters of the joint according to the speed response of the servo motor to obtain the self-tuning control parameters of the joint includes:

[0118] Obtain the actual speed of the servo motor during movement, and based on the actual speed and the corresponding commanded speed, obtain the actual speed loop bandwidth of the joint;

[0119] Adjust the control parameters of the joint according to the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint, so as to obtain the self-tuning control parameters of the joint.

[0120] Thus, by adjusting the control parameters (including speed loop control parameters and current loop control parameters) of the joint according to the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth obtained based on the actual speed feedback by the joint servo motor during movement, it can help optimize the tuning effect of the control parameters of the joint.

[0121] Specifically, the obtaining the actual speed loop bandwidth of the joint according to the actual speed and the corresponding commanded speed includes:

[0122] Calculate a speed fitting curve according to the actual speed and the corresponding commanded speed of the servo motor of the joint during movement;

[0123] According to the speed fitting curve, calculate the excitation signal frequency of the commanded speed when the amplitude of the actual speed decays to 0.707 times the amplitude of the commanded speed or the phase of the actual speed lags 90° behind the phase of the commanded speed, and use this excitation signal frequency as the actual speed loop bandwidth of the joint.

[0124] Further, the adjusting the control parameters of the joint according to the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint to obtain the self-tuning control parameters of the joint includes:

[0125] Judge whether the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than a preset threshold;

[0126] If so, use the theoretical control parameters of the joint as the self-tuning control parameters of the joint;

[0127] If not, perform the following operations on the joint:

[0128] Use the actual speed loop bandwidth of the joint as the new theoretical speed loop bandwidth, and update the theoretical control parameters and excitation signal parameters of the joint according to the updated theoretical speed loop bandwidth and motor parameters of the joint;

[0129] Send a corresponding speed command to the servo driver of the joint according to the updated excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movement according to the speed command and the updated theoretical control parameters;

[0130] Obtain the actual speed of the servo motor during movement, and based on the actual speed of the servo motor of the joint during movement and the corresponding commanded speed, obtain the actual speed loop bandwidth of the joint;

[0131] Repeat all the above steps until the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than the preset threshold.

[0132] Thus, for each joint, it is possible to evaluate whether it is necessary to adjust the control parameters of the joint according to the response error (bandwidth error) of the joint, which can further optimize the effect of control parameter tuning.

[0133] Specifically, please refer to Figure 4 , the self-tuning process of the control parameters of a single joint includes the following steps:

[0134] Step S1: Generate the theoretical speed loop bandwidth of joint i according to the motor parameters of joint i;

[0135] Step S2: Generate the corresponding theoretical control parameters and excitation signal parameters according to the theoretical speed loop bandwidth and motor parameters of joint i;

[0136] Step S3: Set the control mode of joint i to the speed mode, and send the corresponding excitation signal (speed command) to the servo driver of joint i according to the excitation signal parameters of joint i, so that the servo driver of joint i controls the servo motor of joint i to perform corresponding movement according to the excitation signal and the corresponding theoretical control parameters;

[0137] Step S4: Obtain the actual speed of the servo motor of joint i, and calculate the actual speed loop bandwidth of joint i according to the actual speed and the excitation signal;

[0138] Step S5: Calculate the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of joint i;

[0139] Step S6: Determine whether the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth is less than the preset threshold;

[0140] If the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of joint i is less than the preset threshold, then execute step S7; if the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of joint i is greater than or equal to the preset threshold, then execute step S8:

[0141] Step S7: Take the theoretical control parameters of joint i as the self-tuning control parameters of joint i to complete the self-tuning of the control parameters of joint i;

[0142] Step S8: Use the actual speed loop bandwidth of joint i as the new theoretical speed loop bandwidth, and return to execute Step S2.

[0143] Specifically, the excitation signal is a sine swept-frequency signal. It should be noted that, as can be understood by those skilled in the art, for each joint of the robotic arm, the above Steps S1 to S7 are executed in sequence, so as to complete the self-tuning of the control parameters of each joint in turn.

[0144] Further, the error e between the actual speed loop bandwidth f spd-real and the theoretical speed loop bandwidth f spd-theory of the joint can be calculated according to the following formula (9): fre-spd :

[0145]

[0146] Please continue to refer to Figures 5 to 8 , where Figure 8 Curve 1 in represents the actual rotational speed, with the unit of rpm / min, and curve 2 represents the actual current, with the unit of permillage. Specifically, the evaluation criteria for the step response include: settling time: which determines the length of time for the system to reach the steady state. When other variables remain unchanged, the smaller the settling time, the less time the system needs to reach the stable state, and the faster the system responds to the signal; overshoot: the overshoot is the ratio of the instantaneous maximum deviation value (Xmax) of the regulated variable to the steady-state value (X(∞)) under the step input; overshoot: generally, the overshoot of the system is required to be less than 20%. In the transient response of the step input, the overshoot and the rise time are contradictory, that is, both cannot obtain relatively small values. According to Figure 5 It can be seen that by performing a simulation step simulation on the current loop of the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention, it can be seen that the current loop of the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention responds quickly to the step signal. According to Figure 6 It can be seen that by performing a simulation step simulation on the speed loop of the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention, it can be seen that the speed loop of the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention responds quickly to the step signal. According to Figure 7 It can be seen that when the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention operates in the speed mode, it responds quickly to the step signal, and at the same time, the overshoot of the response to the step signal is less than 5%, with good results, meeting the expectations of the simulation. According to Figure 8It can be seen that when the single-joint servo system tuned by the robotic arm control parameter tuning method provided by the present invention operates in the speed mode and the load changes, the load current changes from the highest 300‰ to 143‰, and the actual speed is basically without fluctuation, indicating that the tuning effect of the robotic arm control parameter tuning method provided by the present invention is good.

[0147] In an exemplary embodiment, the tuning method further includes:

[0148] According to the self-tuning control parameters of each of the joints and the speed loop bandwidth and excitation signal parameters corresponding to the self-tuning control parameters, control the servo motors of each joint of the robotic arm to perform corresponding movements, so as to overall tune the control parameters of each joint according to the speed response conditions of each servo motor, thereby obtaining the overall tuning control parameters of each joint.

[0149] Please continue to refer to Figure 9 , the robotic arm body is composed of a robotic arm and a plurality of joint modules, and its signal feedback is provided by encoders on each joint. Thus, after completing the self-tuning of the control parameters of each joint of the robotic arm, and then controlling and tuning the whole robotic arm according to the self-tuning control parameters of each joint, the related performance of the robotic arm can be further optimized. It should be noted that, as can be understood by those skilled in the art, the movement speed of the robotic arm can be determined based on the feedback data of the encoders on each joint of the robotic arm.

[0150] Specifically, regarding how to control the servo motors of each joint of the robotic arm to perform corresponding movements according to the self-tuning control parameters of each joint and the speed loop bandwidth and excitation signal parameters corresponding to the self-tuning control parameters, so as to overall tune the control parameters of each joint according to the speed response conditions of each servo motor, thereby obtaining the overall tuning control parameters of each joint, the specific content can refer to the self-tuning process of the control parameters of a single joint in the above text. The difference is that in the self-tuning process, the tuning of the control parameters of each joint is carried out independently; while in the overall tuning process, the tuning of the control parameters of each joint is carried out simultaneously.

[0151] Please continue to refer to Figures 10 to 11c , as Figure 10 shown, the excitation signal trajectory of the overall tuning of the robotic arm speed loop is a multi-sine fitting curve, and the speed of the excitation trajectory is 0 at both the beginning and the end, which can prevent the robotic arm from jittering at the beginning and the end, and is also convenient for continuous multiple samplings. By comparing the commanded speed with the actual speed of the feedback through the excitation signal, the speed response performance of the robotic arm system can be evaluated. After the robotic arm control parameters are tuned, in the speed loop mode, after the excitation movement, it generates as Figures 11a to 11cThe Bode plots under different loads shown. The Bode plot is a graphical method for the frequency response of a system. The Bode plot consists of an amplitude plot and a phase angle plot, both of which are plotted on a logarithmic scale of frequency. The Bode plot is also known as a logarithmic coordinate plot. Figures 11a to 11c The Bode plots shown reflect the frequency domain characteristics of the mechanical system, the characteristics of the speed loop open-loop system, and the characteristics of the speed loop controller of the robotic arm under different inertia loads, such as Figures 11a to 11c shown, the cut-off frequency (the frequency corresponding to an amplitude of 0) of the speed loop open-loop system of the robotic arm tuned by the robotic arm control parameter tuning method provided by the present invention is relatively high, indicating that the speed response performance of the speed loop open-loop system of the robotic arm tuned by the robotic arm control parameter tuning method provided by the present invention is better.

[0152] Based on the same inventive concept, the present invention also provides a robotic arm control system. Please refer to Figure 12 , the robotic arm control system provided by the present invention includes a parameter input module 100, a host computer controller 200, and a joint servo driver module 300. The parameter input module 100 and the joint servo driver module 300 are both communicatively connected to the host computer controller 200. Among them, the parameter input module 100 is configured to receive the input operation of the motor parameters of each joint of the robotic arm; the host computer controller 200 is configured to implement the robotic arm control parameter tuning method described above, and the joint servo driver module 300 is configured to control the robotic arm to perform corresponding movements according to the control instructions issued by the host computer controller 200. The joint servo driver module 300 includes a plurality of joint servo drivers. Since the robotic arm control system provided by the present invention and the robotic arm control parameter tuning method provided by the present invention belong to the same inventive concept, the robotic arm control system provided by the present invention has all the advantages of the robotic arm control parameter tuning method provided by the present invention. For specific details, reference can be made to the relevant descriptions in the above text, so it will not be elaborated here.

[0153] Please continue to refer to Figure 13 , the initialization of the servo system parameters provided by an embodiment of the present invention includes: after the parameter input module 100 receives the motor parameters such as the rated current of the motor, the maximum overload current of the motor, the design overload multiple, the motor inertia, the line resistance, the line inductance, the torque coefficient, and the rated speed input by the operator, the host computer controller 200 designs the theoretical speed loop bandwidth and the theoretical current loop bandwidth according to these motor parameters, and designs the theoretical speed loop control parameters (including the theoretical speed loop proportional gain and the theoretical speed loop integral gain) according to the theoretical speed loop bandwidth, and designs the theoretical current loop control parameters (including the theoretical current loop proportional gain and the theoretical current loop integral gain) according to the theoretical current loop bandwidth, and then issues the designed theoretical speed loop control parameters and theoretical current loop control parameters to the joint servo driver module 300.

[0154] Please continue to refer to Figure 14 , the host controller 200 performs self-tuning of control parameters by receiving the actual speed feedback signal sent by the joint servo driver and comparing it with the speed command issued by itself.

[0155] Based on the same inventive concept, the present invention further provides a surgical robot, and the control parameters of each of the robotic arms of the surgical robot are obtained by tuning using the robotic arm control parameter tuning method described above; and / or the surgical robot includes the robotic arm control system described above. Since the surgical robot provided by the present invention and the robotic arm control parameter tuning method provided by the present invention belong to the same inventive concept, the surgical robot provided by the present invention has all the advantages of the robotic arm control parameter tuning method provided by the present invention. Specifically, reference can be made to the relevant descriptions in the above text, so it will not be elaborated here.

[0156] Please continue to refer to Figure 15 and Figure 16 , a surgical robot provided by an embodiment of the present invention includes a surgical trolley 1, a robotic arm 2, a guide block device 4, a navigation device 6, an auxiliary display 7, a main display 8, a navigation trolley 9, a keyboard 10, and a host controller 200. The host controller 200 can be installed inside the surgical trolley 1. The navigation device 6 specifically includes navigation markers and a tracker. The navigation markers include a base target 15 and a tool target 3. The base target 15 is fixed, for example, the base target 15 is fixed on the surgical trolley 1 to provide a base coordinate system (or the coordinate system of the base target 15), and the tool target 3 is installed on the guide block device 4 to track the position of the guide block device 4. The guide block device 4 is installed at the end of the robotic arm 2, so as to support the guide block device 4 through the robotic arm 2 and adjust the spatial position and attitude of the guide block device 4, and further define the position and attitude of a surgical tool, such as a saw 5, that cooperates with the guide block device 4. In practice, the tracker is used to capture the signal (preferably an optical signal) reflected by the tool target 3 and record the position of the tool target 3 (i.e., the position and attitude of the tool target 3 in the base coordinate system), and then, according to the position of the tool target 3, control the movement of the robotic arm 2. The robotic arm 2 drives the guide block device 4 and the tool target 3 to move, so that the guide block device 4 moves to a predetermined position.

[0157] When performing a knee replacement surgery, the usage process of the surgical robot generally includes the following operations:

[0158] First, move the surgical trolley 1 and the navigation trolley 9 to a suitable position beside the hospital bed;

[0159] Then, install the navigation markers (the navigation markers also include a femoral target 11 and a tibial target 13), the guide block device 4, and other related components (such as a sterile bag);

[0160] After that, the doctor imports the patient's bone CT / MR scan model into the computer for preoperative planning to obtain an osteotomy plan;

[0161] After preoperative evaluation, the doctor then uses a target pen to mark feature points on the patient's femur 12 and tibia 14, and based on the base target 15 through the navigation device 6, records the positions of all feature points on the patient's tibia 14 and femur 12. Then, through a feature matching algorithm, the actual orientations of the femur 12 and tibia 14 are obtained and correspond to the orientations of the CT / MR images on the femur 12 and tibia 14.

[0162] Subsequently, through the navigation device 6, the actual orientations of the femur 12 and tibia 14 are associated with the corresponding targets installed on the femur 12 and tibia 14, so that the femoral target 11 and the tibial target 13 can track the actual positions of the bones in real time.

[0163] Finally, through the navigation device 6, the osteotomy plane coordinates planned preoperatively are sent to the robotic arm 2. After the robotic arm 2 locates the osteotomy plane through the tool target 3 and moves to a predetermined position, the robotic arm 2 enters a holding state. Thereafter, the doctor can use surgical tools such as a saw 5 or a drill to perform osteotomy and / or drilling operations through the guide block device 4. After completing the osteotomy and drilling operations, the doctor can install the prosthesis and perform other surgical operations.

[0164] It should be noted that, as can be understood by those skilled in the art, the guide block device 4 can be an adjustable device with multiple degrees of freedom in combination, or a device with only one osteotomy slot or multiple osteotomy slots. By using the robotic arm control parameter tuning method provided by the present invention, corresponding theoretical parameters (including theoretical speed loop bandwidth, theoretical current loop bandwidth, theoretical speed loop control parameters, and theoretical current loop control parameters) can be generated for different guide block devices and different types of robotic arms.

[0165] Based on the same inventive concept, the present invention also provides an electronic device, as Figure 17 shown, the electronic device includes a processor 101 and a memory 103. A computer program is stored on the memory 103. When the computer program is executed by the processor 101, the robotic arm control parameter tuning method described above is implemented. Since the electronic device provided by the present invention and the robotic arm control parameter tuning method provided by the present invention belong to the same inventive concept, the electronic device provided by the present invention has all the advantages of the robotic arm control parameter tuning method provided by the present invention. For details, reference can be made to the relevant descriptions in the above text, so no further elaboration will be made here.

[0166] As Figure 17As shown, the electronic device further includes a communication interface 102 and a communication bus 104. The processor 101, the communication interface 102, and the memory 103 complete communication with each other through the communication bus 104. The communication bus 104 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 104 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 102 is used for communication between the above-mentioned electronic device and other devices.

[0167] The processor 101 referred to in the present invention 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. The processor 101 is the control center of the electronic device, and connects various parts of the entire electronic device through various interfaces and lines.

[0168] The memory 103 can be used to store the computer program. The processor 101 realizes various functions of the electronic device by running or executing the computer program stored in the memory 103 and calling the data stored in the memory 103.

[0169] The memory 103 may include non-volatile and / or volatile memory. The non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct rambus dynamic RAM (DRDRAM), and rambus dynamic RAM (RDRAM), etc.

[0170] The present invention also provides a readable storage medium having a computer program stored therein, and when the computer program is executed by a processor, the method for tuning the control parameters of the robotic arm described above can be implemented. Since the readable storage medium provided by the present invention and the method for tuning the control parameters of the robotic arm provided by the present invention belong to the same inventive concept, the readable storage medium provided by the present invention has all the advantages of the method for tuning the control parameters of the robotic arm provided by the present invention. For specific details, reference can be made to the relevant descriptions above, and thus will not be elaborated herein.

[0171] The readable storage medium provided by the present invention may be any combination of one or more computer-readable media. The readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or combined with an instruction execution system, apparatus, or device.

[0172] A computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0173] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof, the programming languages including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0174] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of this article. In this regard, each block in the flowchart or block diagram may represent a module, program, or part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in each embodiment of this article can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0175] The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the art of the present invention based on the above disclosure belong to the protection scope of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for tuning the control parameters of a robotic arm, characterized in that, Including: Obtaining the motor parameters of each joint of the robotic arm; For each of the joints, according to the motor parameters of the joint, obtaining the theoretical speed loop bandwidth of the joint, and obtaining the theoretical control parameters and excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint; and Performing the following operations on each of the joints in sequence: Setting the control mode of the servo driver of the joint to the speed mode, and sending a corresponding speed command to the servo driver of the joint according to the excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movements according to the speed command and the theoretical control parameters of the joint, and performing self-tuning of the control parameters of the joint according to the speed response of the servo motor, so as to obtain the self-tuning control parameters of the joint; The performing self-tuning of the control parameters of the joint according to the speed response of the servo motor, so as to obtain the self-tuning control parameters of the joint, includes: Obtaining the actual speed of the servo motor during the movement, and obtaining the actual speed loop bandwidth of the joint according to the actual speed and the corresponding commanded speed; Judging whether the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than a preset threshold; If so, taking the theoretical control parameters of the joint as the self-tuning control parameters of the joint.

2. The method for tuning the control parameters of the robotic arm according to claim 1, wherein The obtained motor parameters include at least one of motor rated current, motor maximum overload current, design overload multiple, motor inertia, line resistance, line inductance, torque coefficient, and rated speed.

3. The method for tuning the manipulator control parameters according to claim 2, wherein The obtaining the theoretical speed loop bandwidth of the joint according to the motor parameters of the joint includes: Obtaining the correction coefficient of the joint according to the design overload multiple, motor maximum overload current, and motor rated current of the joint; Obtaining the mechanical time constant of the joint according to the motor inertia, line resistance, and torque coefficient of the joint; Obtaining the theoretical speed loop bandwidth of the joint according to the ratio of the correction coefficient and the mechanical time constant of the joint.

4. The method for tuning the manipulator control parameters according to claim 2, wherein The control parameters of the joint include speed loop control parameters and current loop control parameters; The obtaining the theoretical control parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes: Obtaining the theoretical speed loop control parameters of the joint according to the theoretical speed loop bandwidth, motor inertia, and torque coefficient of the joint; and Obtaining the theoretical current loop control parameters of the joint according to the theoretical speed loop bandwidth, line resistance, and line inductance of the joint.

5. The method for tuning the manipulator control parameters according to claim 2, characterized in that, The obtaining the excitation signal parameters of the joint according to the motor parameters and the theoretical speed loop bandwidth of the joint includes: Determining the excitation signal parameters of the joint according to the theoretical speed loop bandwidth and the rated speed of the joint, wherein the highest frequency of the excitation signal of the joint does not exceed 2 times the theoretical speed loop bandwidth of the joint, and the amplitude of the excitation signal of the joint is 0.05 times to 0.1 times the rated speed of the joint.

6. The method for tuning the manipulator control parameters according to claim 1, characterized in that If the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is greater than or equal to the preset threshold, performing the following operations on the joint: Take the actual speed loop bandwidth of the joint as the new theoretical speed loop bandwidth, and update the theoretical control parameters and excitation signal parameters of the joint according to the updated theoretical speed loop bandwidth of the joint and the motor parameters; Send a corresponding speed command to the servo driver of the joint according to the updated excitation signal parameters of the joint, so that the servo driver of the joint controls the servo motor of the joint to perform corresponding movements according to the speed command and the updated theoretical control parameters; Obtain the actual speed of the servo motor during the movement, and obtain the actual speed loop bandwidth of the joint according to the actual speed of the servo motor of the joint during the movement and the corresponding commanded speed; Repeat all the above steps until the error between the actual speed loop bandwidth and the theoretical speed loop bandwidth of the joint is less than the preset threshold.

7. The method for tuning the manipulator control parameters according to claim 1, wherein The tuning method further includes: Control the servo motors of the respective joints of the robotic arm to perform corresponding movements according to the self-tuning control parameters of the respective joints and the speed loop bandwidth and excitation signal parameters corresponding to the self-tuning control parameters, so as to perform overall tuning of the control parameters of the respective joints according to the speed response conditions of the respective servo motors, thereby obtaining the overall tuning control parameters of the respective joints.

8. A robotic arm control system, characterized in that, It includes a parameter input module, a host computer controller, and a joint servo driver module. The parameter input module and the joint servo driver module are both communicatively connected to the host computer controller; The parameter input module is configured to receive the input operation of the motor parameters of the respective joints of the robotic arm; The host computer controller is configured to implement the robotic arm control parameter tuning method according to any one of claims 1 to 7; The joint servo driver module is configured to control the robotic arm to perform corresponding movements according to the control instructions issued by the host computer controller. The joint servo driver module includes a plurality of joint servo drivers.

9. An electronic device, characterized in that, It includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the robotic arm control parameter tuning method according to any one of claims 1 to 7 is implemented.

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