Robot end precise control method and device based on segmented motion planning strategy

Abstract

The precise control method and device for the end of a robot based on a segmented motion planning strategy belong to the technical field of hyper-redundant robot motion planning and control. To solve the problem of low motion accuracy at the end of existing hyper-redundant robots, the hyper-redundant robot is divided into a base, a neck, and a head on the kinematic chain in the present invention. The base is kinematically designed using a backbone curve, and the joint angles of the base are calculated through discretization. Then, the workspace of the head of the hyper-redundant robot is calculated, and the center of the flexible workspace is determined. The desired position and orientation of the end reference coordinate system for the neck are obtained from the desired pose of the end link of the head and the flexible workspace of the head, and the joint angles of the neck and the head are calculated using an optimization algorithm. It is applicable to the end control of hyper-redundant robots.

Description

Technical Field

[0001] The present invention belongs to the technical field of hyper-redundant robot motion planning and control, and particularly relates to a precise control method for the robot end, a storage medium, and a device. Background Art

[0002] Hyper-redundant robots have good environmental adaptability and flexible degrees of freedom, and have very broad application prospects in many fields. Due to the redundant motion degrees of freedom of hyper-redundant robots, their movements are relatively flexible. When moving in an unstructured environment, it is often necessary to control the robot end to perform grasping or exploration operations. However, currently, most hyper-redundant robots adopt a motion control method based on a backbone curve. This control method has problems such as low motion control accuracy at the robot end and difficulty in achieving precise control. At the same time, this method requires designing a backbone curve and performing complex calculation steps such as discretization, which seriously affects the control and application of hyper-redundant robots. Summary of the Invention

[0003] The present invention is to solve the problem of low motion accuracy at the end of existing hyper-redundant robots, and provides a precise control method for the robot end based on a segmented motion planning strategy.

[0004] A precise control method for the robot end based on a segmented motion planning strategy is used to precisely control the end of a hyper-redundant robot. The hyper-redundant robot is a snake-shaped robot, including a head, a neck, and a base, and the head and the base are connected by the neck.

[0005] The process of precisely controlling the end of the hyper-redundant robot includes the following steps:

[0006] S1. Determine the joint angle of the base of the hyper-redundant robot through a planar circular arc backbone curve.

[0007] S2. Determine the center of the flexible workspace:

[0008] Use the TRAC-IK algorithm to calculate the workspace of the head of the hyper-redundant robot. There are N points in the calculated workspace of the head. Taking the i-th spatial point p as the center of the sphere and the radius R to construct a spherical surface S, where i = 1, 2, 3,..., N; N points are evenly distributed on S, and the k-th point is p, where k = 1, 2,..., N; taking... as the Z-axis direction and p as the origin to construct a coordinate system W. The calculation process is as follows: p i p i p i s i,k s i,k i,k ​​​​​​​​​​​​

[0009]

[0010]

[0011]

[0012] in, W i，k Coordinate system Z axis, X axis, Y axis unit vector, W i，k The origin of the coordinate system is p i,k ;v set is a user-defined three-dimensional unit vector; then each p i Ns desired positions are evenly distributed on the sphere

[0013] Use the TRAC-IK algorithm to obtain the inverse kinematics solution for each, assuming that Ns postures can obtain m solutions; based on the workspace, determine the flexible workspace according to the accessibility index D, and then determine the center of the flexible workspace;

[0014] S3. Align the center of the flexible workspace of the hyper-redundant robot head with the desired position of the head end, determine the origin of the head base, that is, the desired position of the neck end, and use the optimization method to make the actual position of the neck end and the X-axis direction of the local coordinate system of the end close to the desired position and direction, and then solve the joint angle of the neck:

[0015] First determine the desired location of the end link of the neck:

[0016] The base coordinate system of the head is also the end coordinate system of the neck; let the center point of the flexible workspace, the origin of the base coordinate system of the head and the end point of the base be G0, B0 and P0 respectively, then

[0017] L c =‖B0-G0‖ (5)

[0018]

[0019] P d =G0-L c r d (7)

[0020] Among them, L c P is the distance from the center point of the flexible workspace to the origin of the base coordinate system of the head; d is the desired position of the connecting rod at the end of the neck; r d is the desired orientation of the end link of the neck;

[0021] Then, the problem of solving the neck joint angles is transformed into an optimization problem with the minimum error between the pose of the neck end and the desired pose; assume that the neck has n c joints, and the joint angles of the neck joints are θ k , θ k+1 ,...., Therefore, there is

[0022]

[0023]

[0024] where, k T k+1 is the homogeneous transformation matrix from the (k + 1)-th joint coordinate system to the k-th coordinate system; E n is the objective function; P a and r a are the actual position and direction of the end link of the neck respectively; h is the weight coefficient; and are the lower and upper limits of the joint limits of the joint angles respectively;

[0025] S4. Take the end of the neck as the base of the head and use the TRAC-IK inverse kinematics algorithm to solve the joint angles of the head.

[0026] Furthermore, the process of determining the joint angles of the base of the hyper-redundant robot through the planar circular arc backbone curve includes the following steps:

[0027] Assume that the length of the backbone curve of the base is l, and the joint angles of the base are obtained by discretizing the circular arc with radius r; for the backbone curve of the base, there is

[0028]

[0029]

[0030] where, θ is the joint angle, r is the radius of the circular arc backbone curve of the base; S c is the area of the contact polygon enclosed by the backbone curve of the base; when θ = π, S c has a maximum value of 1 / 2πr 2 ;

[0031] When the backbone curve of the base is determined, the joint angles of the base are obtained by discretizing the backbone curve.

[0032] Furthermore, the process of obtaining the joint angles of the base by discretizing the backbone curve includes the following steps:

[0033] Adopt a discretization method based on the integral of curvature and torsion to calculate the joint angles of the base, and the joint angles of the base include the yaw joint and the pitch joint angles:

[0034]

[0035]

[0036] In the formula, Δs is the sum of the lengths of two linkages connected by the yaw joint; κ(s), κ c (s), κ w (s) are respectively the curvature of the back curve of the base plane at the arc length s, and the components of the curvature in the pitch plane and the yaw plane; θ yaw 、θ pitch are respectively the joint angles of the yaw joint and the pitch joint;

[0037] Substitute to get

[0038] Furthermore, the reachability index is as follows:

[0039]

[0040] where m is the number of solutions that can be obtained for the expected pose of Ns spherical distributions formed by a single workspace point.

[0041] Furthermore, in the process of determining the flexible workspace according to the reachability index D, the workspace with the reachability index D equal to 100 is selected as the flexible workspace.

[0042] Furthermore, the process of determining the center of the flexible workspace includes the following steps:

[0043] The k-means++ method is used to screen the center of the flexible workspace, and then the center of the flexible workspace is determined.

[0044] Furthermore, in the process of constructing the coordinate system W i,k with p i,k as the origin, if the calculated then v set is reset to [0, 1, 0].

[0045] Furthermore, the user-defined three-dimensional unit vector v set is set to [1, 0, 0].

[0046] A computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the precise control method for the robot end based on the segmented motion planning strategy.

[0047] An accurate control device for the robot end based on a segmented motion planning strategy. The device includes a processor and a memory. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the accurate control method for the robot end based on the segmented motion planning strategy.

[0048] Due to the above technical solutions adopted by the present invention, it has the following advantages:

[0049] The method of the present invention segments the hyper-redundant robot on the kinematic chain, and can perform grasping or detection operations at the end while moving while maintaining the stable movement of the hyper-redundant robot, and can effectively control the end position error, that is, the control of the present invention has a high end motion control accuracy. Description of the Drawings

[0050] Figure 1 It is a flow chart of the discretization of the backbone curve based on the minimum rotation coordinate system.

[0051] Figure 2 It is a schematic diagram of kinematic segmentation and flexible workspace.

[0052] Figure 3 It is a simulation process diagram of the snake-shaped robot end capturing a small ball. Detailed Embodiments Detailed Embodiment 1:

[0054] This embodiment is an accurate control method for the robot end based on a segmented motion planning strategy, including the following steps:

[0055] Step 1: The hyper-redundant robot is a snake-shaped robot, including a head, a neck, and a base (i.e., a torso), and the head and the base are connected by the neck; assuming that the length of the backbone curve of the base is l, the joint angle of the base is obtained by discretizing an arc with a radius of r. For the backbone curve of the base, there is

[0056]

[0057]

[0058] where θ is the joint angle and r is the radius of the backbone curve of the base arc. S c is the area of the contact polygon enclosed by the backbone curve of the base; when θ = π, S c has a maximum value of 1 / 2πr 2 .

[0059] After the backbone curve of the base is determined, it is necessary to discretize the backbone curve to obtain the joint angle of the base:

[0060] The discretization method based on the integral of curvature and torsion (implemented by formulas (3) and (4)) is adopted to calculate the base joint angles. The base joint angles include the yaw joint and pitch joint angles. The spine curve of the base is a planar joint angle, and the formula is

[0061]

[0062]

[0063] In the formula, Δs is the sum of the lengths of the two connecting rods of the yaw joint. κ(s), κ c (s), κ w (s) are the curvature of the spine curve of the base plane at the arc length s, and the components of the curvature in the pitch plane and yaw plane respectively; θ yaw 、θ pitch are the joint angles of the yaw joint and pitch joint respectively;

[0064] Substitute to get

[0065] After determining the joint angles of the base, the end coordinate system of the base can be calculated. The end coordinate system of the base is the base coordinate system of the neck.

[0066] Step 2: Use the TRAC-IK algorithm to calculate the workspace of the hyper-redundant robot's head. There are N p points in the calculated head workspace. Taking the i-th spatial point p i as the center of the sphere and the radius R p to construct a spherical surface S i , i = 1, 2, 3, …, N p . Uniformly distribute N i points on S s . The k-th point is p i,k , k = 1, 2, …, N s . Taking as the Z-axis direction and p i,k as the origin to construct a coordinate system W i,k . The calculation process is as follows:

[0067]

[0068]

[0069]

[0070] Among them, are the unit vectors of the Z-axis, X-axis, and Y-axis of the W i，k coordinate system respectively. The origin of the W i，k coordinate system is p i,k . vset A user-defined three-dimensional unit vector, which can be set to [1, 0, 0]. If the ≤ 1e-5 (10 to the power of -5), then set v set to [0, 1, 0] again. Then each p i Uniformly distribute Ns desired poses on the sphere formed

[0071] The user-defined three-dimensional unit vector can be set arbitrarily, and theoretically, the situation of ≤ 1e-5 may occur. In actual algorithm implementation, setting it to [1, 0, 0] is more convenient; however, when ≤ 1e-5, it must be reset to [0, 1, 0].

[0072] Use the TRAC-IK algorithm to solve the inverse kinematics for each, assuming that m solutions can be obtained for Ns poses. According to the link lengths of the hyper-redundant robot and the robot configuration, select the workspace with a reachability index D equal to 100 as the flexible workspace. The calculation of the reachability index is as follows:

[0073]

[0074] Where m is the number of solutions that can be obtained for the Ns desired poses distributed on the sphere formed by a single workspace point, and D is the reachability index.

[0075] Adopt the k-means++ method to screen the center of the flexible workspace, and then determine the center of the flexible workspace.

[0076] Step 3: Since the neck connects the head and the base, the joint angles of the neck are determined according to the base and the head. When the flexible workspace of the head covers the desired pose, it means that the pose is solvable. Therefore, it is very important to determine the pose of the base coordinate system of the head. In the present invention, the base coordinate system of the head is also the end coordinate system of the neck. Here, it is assumed that the center point of the flexible workspace, the origin of the base coordinate system of the head, and the end point of the base are G0, B0, and P0 respectively, then there is

[0077] L c = ‖B0 - G0‖ (5)

[0078]

[0079] P d = G0 - L c r d (7)

[0080] Where L c is the distance from the center point of the flexible workspace to the origin of the base coordinate system of the head; P d is the expected position of the end link of the neck; rd is the desired direction of the neck end link. G0, B0, and P0 are the center point of the flexible workspace, the origin of the base coordinate system of the head, and the end point of the base respectively.

[0081] Figure 2 is a schematic diagram of kinematic segmentation and flexible workspace. In the figure: workspace 1, head link 2, neck link 3, support polygon 4, base link 5, desired end pose 6, desired direction position of the neck 7.

[0082] Coincide the desired position of the hyper-redundant robot head with the center point of the flexible workspace, and then inversely deduce the desired position and desired direction of the neck end. Once the origin of the actual neck end coordinate system (i.e., the origin of the base coordinate system of the head) reaches or approaches the desired position and the X-axis direction of the actual neck end coordinate system (the axis direction of the end link) reaches or approaches the desired direction, then it can be ensured that the flexible workspace of the head can cover the desired pose of the head end joint. Therefore, the problem of solving the neck joint angle is transformed into an optimization problem with the minimum error between the neck end pose and the desired pose. Assume that the neck has n c joints, and the joint angles of the neck joints are θ k , θ k+1 ,...., Therefore, there is

[0083]

[0084]

[0085] Among them, k T k+1 is the homogeneous transformation matrix from the (k + 1)-th joint coordinate system to the k-th coordinate system; E n is the objective function; P a and r a are the actual position and direction of the neck end link respectively; h is the weight coefficient. θ i represents the i-th joint angle of the snake-like robot, and are the lower and upper limits of the joint limit of the joint angle respectively.

[0086] Step 4: The segmented kinematics based on the flexible workspace (the segmented kinematics is also the three-segment segmentation of the base, neck, and head in Steps 1, 2, and 3. Steps 1, 2, and 3 are to explain the segmented kinematics of the flexible workspace) includes the solution of the inverse kinematics joint angles of the base, neck, and head in three parts:

[0087] First, determine the joint angles of the base of the hyper-redundant robot through the planar circular arc backbone curve.

[0088] Secondly, align the center of the flexible workspace of the hyper-redundant robot head with the desired position at the end of the head. Then, determine the origin of the head base, i.e., the desired position of the end of the neck, through (5), (6), and (7). Use the optimization method to make the actual position of the end of the neck and the direction of the X-axis of the end local coordinate system (the axis of the end of the neck) approach the desired position and direction, and then solve for the joint angles of the neck.

[0089] Finally, use the TRAC-IK inverse kinematics algorithm to solve for the joint angles of the head with the end of the neck as the base of the head.

[0090] Step four is specifically implemented through the following steps:

[0091] (1) First, determine the end point P0 of the base. Determine the end point P0 of the base of the snake robot by discretizing the backbone curve of the base.

[0092] (2) Calculate the desired direction r d of the axis of the end link of the neck, that is, the direction from P0 to the desired position G0 of the head.

[0093] (3) Align the center of the flexible workspace of the head with the desired position at the end of the head. Then, based on the distance between the head base and the center of the flexible workspace, inversely deduce to determine the desired position of the origin of the end coordinate system of the neck, referring to (5), (6), and (7).

[0094] (4) Determine the joint angles of the neck by minimizing the objective function E n .

[0095] (5) Treat the coordinate system at the end of the neck as the base coordinate system of the head. Then, the TRAC-IK inverse kinematics algorithm can be used to determine the joint angles of the head of the snake robot. Specific Embodiment 2:

[0097] This embodiment is a computer storage medium, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement the robot end precise control method based on the segmented motion planning strategy described above.

[0098] It should be understood that the instructions include computer program products, software, or computerized methods corresponding to any method described in the present invention; the instructions can be used to program a computer system or other electronic devices. The computer storage medium can include a readable medium on which instructions are stored, which can include but are not limited to magnetic storage media and optical storage media; magneto-optical storage media include read-only memory ROM, random access memory RAM, erasable programmable memory (e.g., EPROM and EEPROM), and flash memory layers, or other types of media suitable for storing electronic instructions. Specific Embodiment 3:

[0100] This embodiment is an accurate control device for the robot end based on a segmented motion planning strategy. The device includes a processor and a memory. It should be understood that any device including a processor and a memory described in the present invention, the device may also include other units and modules for display, interaction, processing, control, etc. through signals or instructions and other functions;

[0101] At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the accurate control method for the robot end based on the segmented motion planning strategy.

[0102] Example 1:

[0103] The accurate pose solution of the end of the hyper-redundant robot head can be achieved through the first specific embodiment. Next, the application based on the actual task scenario is introduced, such as Figure 1 As shown, the processing process of this embodiment includes the following steps:

[0104] (1) First, initialize the Euler angles α, β, and γ of the desired pose of the end of the snake robot head. Determine the desired position of the end as P s . Discretize the backbone curve to obtain the joint angles required for the initial state. Since no direction constraint is imposed on the end of the backbone curve in the initial state, the backbone curve can be composed of a planar circular arc and a planar cubic Bezier curve, and they are smoothly connected at the connection. Calculate the joint angles of the snake robot by the method of discretizing the planar backbone curve.

[0105] (2) Plan the snake robot from the current state to the state where the base is in a semi-circular shape, and the neck and head are in a spiral-shaped expanding backbone curve corresponding to the robot link state.

[0106] (3) Determine the desired position and direction of the end of the neck through the flexible workspace of the head and the desired pose of the end link of the head, and then solve the joint angles of the neck. After determining the joint angles of the neck, based on the end coordinate system of the neck, use the TRAC-IK algorithm to solve the joint angles of the head. Based on the entire configuration and joint angles of the snake robot, judge the stability of the ZMP (zero-moment point). If the solved ZMP is stable, plan the joint motion. Then judge whether the ZMP is stable during the Cartesian space motion process. If the iteration number m is greater than or equal to m0, end the iterative solution. If the iteration number m is less than m0, perform the objective function calculation. If E is less than the threshold ε, end the solution, otherwise jump back to (3) and execute again. m0 is set to 1000, h is taken as 0.2. ε is taken as 1e-4.

[0107] (4) If there is no solution at the end of the iteration, it is necessary to appropriately adjust the pose of the snake robot's base using rolling gait and turning gait. If the solution is successful, joint motions are planned based on the feasible solution.

[0108] To verify the effectiveness of the algorithm, a simulation of the snake robot capturing a small ball at its end was carried out, as Figure 3 shown. During the simulation, the snake robot completed the process of moving from the initial state to capturing ball 1, and then capturing ball 2. The snake robot moved from the current state to the initial state as shown in Figure 3 (a) to (b). Then, according to the known positions of the base end, the joint angles of the neck and head were solved using the segmented motion planning strategy. The snake robot was planned to move from the state shown in Figure 3 (c) to the state shown in (e) through the Cartesian space motion planning method. The process of capturing ball 1 is shown in Figure 3 (c)(d)(e)(f)(g). The end position error of capturing ball 1 was 1.96 mm. After that, it first detached from ball 1, and then the joint angles for capturing ball 2 were calculated using the segmented motion planning strategy. The process of transitioning from the state of capturing ball 1 to capturing ball 2 is shown in Figure 3 (h)(i)(j)(k)(l). The end position error of capturing ball 2 was 1.8 mm.

[0109] The method of the present invention uses a 7-degree-of-freedom linkage as the head of the hyper-redundant robot to obtain an accurate end pose solution of the hyper-redundant robot.

[0110] The above examples of the present invention are only used to illustrate in detail the calculation model and calculation process of the present invention, rather than limiting the implementation manner of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solution of the present invention still fall within the protection scope of the present invention.

Claims

1. A precise control method for the robot end based on a segmented motion planning strategy, characterized in that, For precise end control of a hyper-redundant robot, the hyper-redundant robot is a snake-like robot, including a head, a neck, and a base, and the head and the base are connected by the neck; The process of precise end control of the hyper-redundant robot includes the following steps: S1. Determine the joint angles of the base of the hyper-redundant robot through a planar circular arc backbone curve; S2. Determine the center of the flexible workspace: TRAC-IK algorithm is used to calculate the super redundant robot head workspace. The calculated head workspace has a total of N p points, with the i-th spatial point p i is the center of the sphere, and the radius R p Construct sphere S i ,i=1,2,3,…,N p ; in S i Uniform distribution N s points, of which the kth point is p i,k ,k=1,2,…,N s ;by is the Z-axis direction, with p i,k Construct coordinate system W for the origin i,k , the calculation process is as follows: Among them, are the unit vectors of the Z-axis, X-axis, and Y-axis of the W i，k coordinate system respectively, and the origin of the W i，k coordinate system is p i,k ; v set is a user-defined three-dimensional unit vector; then Ns desired poses are evenly distributed on the sphere formed by each p i ​ Use the TRAC-IK algorithm to solve the inverse kinematics for each one. Assume that m solutions can be obtained for Ns poses. Based on the workspace, determine the flexible workspace according to the reachability index D, and then determine the center of the flexible workspace; S3. Coincide the center of the flexible workspace of the hyper-redundant robot head with the expected position of the head end, determine the origin of the head base, that is, the expected position of the neck end, and use the optimization method to make the actual position of the neck end and the direction of the X-axis of the end local coordinate system approach the expected position and direction, and then solve the joint angles of the neck: First, determine the expected position of the link at the neck end: The base coordinate system of the head is also the end coordinate system of the neck. Let the center point of the flexible workspace, the origin of the base coordinate system of the head, and the end point of the base be G0, B0, and P0 respectively, then there is L c = ‖B0 - G0‖ (5) P d = G0 - L c r d (7) Among them, L c is the distance from the center point of the flexible workspace to the origin of the base coordinate system of the head; P d is the expected position of the end link of the neck; r d is the expected direction of the end link of the neck. Then, the problem of solving the neck joint angles is transformed into an optimization problem with the minimum error between the posture of the neck end and the desired posture; assume that the neck has n c joints, and the joint angles of the neck joints are θ k , θ k+1 ,...., θ k+nc-1 , so there is Among them, k T k+1 is the homogeneous transformation matrix from the (k + 1)-th joint coordinate system to the k-th coordinate system; E n is the objective function; P a and r a are respectively the actual position and orientation of the end link of the neck; h is the weight coefficient; and are respectively the lower and upper limits of the joint limit of the joint angle; S4. Use the neck end as the head base and use the TRAC-IK inverse kinematics algorithm to solve the joint angles of the head.

2. The method for precise control of the robot end based on the segmented motion planning strategy according to claim 1, characterized in that, The process of determining the joint angles of the base of the hyper-redundant robot through a planar circular arc backbone curve includes the following steps: Assume that the length of the backbone curve of the base is l, and obtain the joint angles of the base by discretizing an arc with a radius of r. For the backbone curve of the base, there is where θ is the joint angle and r is the radius of the base arc back curve; S c is the contact polygon area enclosed by the back curve of the base; when θ = π, S c has a maximum value of 1 / 2πr 2 ; After the backbone curve of the base is determined, obtain the base joint angles by discretizing the backbone curve.

3. The method for precise control of the robot end based on the segmented motion planning strategy according to claim 2, characterized in that The process of obtaining the base joint angles by discretizing the backbone curve includes the following steps: Adopt a discretization method based on the integral of curvature and torsion to calculate the base joint angles, and the base joint angles include the yaw joint and the pitch joint angles: where Δs is the sum of the lengths of the two links connected by the yaw joint; κ(s), κ c (s), κ w (s) are respectively the curvature of the back curve of the base plane at the arc length s, and the components of the curvature in the pitch plane and the yaw plane; θ yaw 、θ pitch are respectively the joint angles of the yaw joint and the pitch joint; Bring in Obtain 4. The method for precise control of the robot end based on the segmented motion planning strategy according to claim 1, 2 or 3, characterized in that The reachability index is as follows: where m is the number of solutions that can be obtained for the Ns expected poses with a spherical distribution formed by a single workspace point.

5. The robot end precise control method based on the segmented motion planning strategy according to claim 4, characterized in that, In the process of determining the flexible workspace according to the reachability index D, select the workspace with the reachability index D equal to 100 as the flexible workspace.

6. The robot end precise control method based on the segmented motion planning strategy according to claim 5, characterized in that The process of determining the center of the flexible workspace includes the following steps: Adopt the k-means++ method to screen the center of the flexible workspace, and then determine the center of the flexible workspace.

7. The method for precise control of the robot end based on the segmented motion planning strategy according to claim 6, characterized in that, Taking p i,k as the origin to construct the coordinate system W i,k During the process, if the calculated then set v set to [0, 1, 0] again.

8. The method for precise control of the robot end based on the segmented motion planning strategy according to claim 7, characterized in that, User-defined three-dimensional unit vector v set Set to [1, 0, 0].

9. A computer storage medium, characterized in that, The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the robot end precise control method based on the segmented motion planning strategy as described in any one of claims 1 to 8.

10. An accurate control device for the robot end based on a segmented motion planning strategy, characterized in that, The device includes a processor and a memory. The memory stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the robot end precise control method based on the segmented motion planning strategy as described in any one of claims 1 to 8.

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