Control signal vibration suppression method for force control and computer device

Abstract

This application relates to a method, computer device, and readable storage medium for suppressing vibrations in control signals used for force control. The method includes: acquiring a first output signal from a force sensing device, the first output signal including at least one of a force signal and a torque signal (S110); processing the first output signal using an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal (S120); and using the second output signal for vibration suppression of the control signal used for force control (S130). This method can improve the vibration suppression performance of control signals used for force control.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method for suppressing vibrations in control signals for force control and a computer device. Background Technology

[0002] Even in the most sophisticated and rigid robots, flexibility remains in joints and links. Vibrations stemming from this flexibility can disrupt the robot's stability and degrade its performance. Furthermore, some flexibility is intentionally added to provide sensing capabilities. For example, in torque-controlled robots designed to perform contact control, flexible elements are embedded in the system to measure external forces. These elements can be single-axis torque sensors on joints and / or six-axis force / torque sensors on the robot's end effector. To fully utilize these additional sensing capabilities during operation and minimize the impact of signal vibrations, the system will need to measure and compensate for vibrations.

[0003] Traditional vibration suppression control methods primarily use IMUs (Inertial Measuring Units) or joint accelerations as feedback, but these signals are often noisy. Some traditional control methods rely on the finite derivative of forces, but this often amplifies the noise in these signals, leading to poor performance of the robot system. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for suppressing vibration of control signals for force control, a computer device, and a non-transitory computer-readable storage medium to address the above-mentioned technical problems.

[0005] A first aspect of this application provides a method for suppressing vibration of a control signal for force control, comprising: acquiring a first output signal of a force sensing device, the first output signal including at least one of a force signal and a torque signal; processing the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal; and using the second output signal for suppressing vibration of a control signal for force control.

[0006] In a first aspect of this application, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: processing the plurality of measurement signals one-to-one through the plurality of analog differentiating circuits to obtain differential components of the plurality of measurement signals; and calculating and determining the second output signal based on the differential components of the plurality of measurement signals.

[0007] In a first aspect of this application, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: fusing the plurality of measurement signals to obtain one or more fused measurement signals; processing the one or more fused measurement signals one-to-one through one or more of the analog differentiating circuits to obtain differential components of the one or more fused measurement signals; and calculating and determining the second output signal based on the differential components of the one or more fused measurement signals.

[0008] In a first aspect of this application, the first output signal characterizes the output torque of a robot joint, and the method further includes: acquiring the desired torque and the desired torque differential component of the robot joint; the step of using the second output signal for force control vibration suppression includes: adjusting the motor output of the robot joint according to the desired torque, the desired torque differential component, and the second output signal.

[0009] In a first aspect of this application, the first output signal characterizes the output force of a robot end effector, and the method further includes: acquiring the desired force and a desired force differential of the robot end effector; the control signal vibration suppression of using the second output signal for force control includes: adjusting the output displacement of the robot end effector according to the desired force, the desired force differential, and the second output signal.

[0010] A second aspect of this application provides a computer device including a memory and a processor. The memory stores processor-executable instructions, which, when executed by the processor, cause the processor to: acquire a first output signal from a force sensing device, the first output signal including at least one of a force signal and a torque signal; process the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal; and use the second output signal for vibration suppression control signals in force control.

[0011] In a second aspect of this application, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: processing the plurality of measurement signals one-to-one through the plurality of analog differentiating circuits to obtain differential components of the plurality of measurement signals; and calculating and determining the second output signal based on the differential components of the plurality of measurement signals.

[0012] In a second aspect of this application, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: fusing the plurality of measurement signals to obtain one or more fused measurement signals; processing the one or more fused measurement signals one-to-one through one or more of the analog differentiating circuits to obtain differential components of the one or more fused measurement signals; and calculating and determining the second output signal based on the differential components of the one or more fused measurement signals.

[0013] In a second aspect of this application, the first output signal characterizes the output torque of a robot joint, and the processor-executable instructions, when executed by the processor, further cause the processor to: acquire the desired torque and a differential component of the desired torque of the robot joint; the control signal vibration suppression of using the second output signal for force control includes: adjusting the motor output of the robot joint based on the desired torque, the differential component of the desired torque, and the second output signal.

[0014] In a second aspect of this application, the first output signal characterizes the output force of a robot end effector, and the processor-executable instructions, when executed by the processor, further cause the processor to: acquire the desired force and a desired force micro-component of the robot end effector; the control signal vibration suppression for using the second output signal for force control includes: adjusting the output displacement of the robot end effector based on the desired force, the desired force micro-component, and the second output signal.

[0015] A third aspect of this application provides a non-transitory computer-readable storage medium storing processor-executable instructions thereon, which, when executed by a processor, cause the processor to: acquire a first output signal of a force sensing device, the first output signal including at least one of a force signal and a torque signal; process the first output signal by an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal; and use the second output signal for vibration suppression of a control signal for force control.

[0016] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are only some embodiments of this application and do not constitute a limitation on the disclosure and protection scope of this application.

[0018] Figure 1 This is a schematic flowchart of a vibration suppression method for force control according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of a single-channel analog differentiating circuit according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of analog signal differentiation processing according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of signal analog differential processing according to another embodiment of this application;

[0022] Figure 5 This is a schematic diagram of vibration suppression control on a robot joint according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of vibration suppression control on a robot end effector according to an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0025] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0028] This application provides a computer-implemented method for suppressing vibrations in control signals used for force control. Taking the application of this method to a robot as an example, Figure 1 This is a flowchart of an exemplary method for suppressing vibrations of control signals used for force control in a robot, executed by a computing device such as a robot's joint controller. The robot includes multiple joints, and the links connected to each joint are driven by at least one axis motor, and each axis motor is closed-loop controlled by at least one joint controller.

[0029] In step S110, a first output signal of the force sensing device is acquired. The first output signal includes at least one of a force signal and a torque signal. Force sensing devices are typically installed at the joints and end effector of the robot to measure at least one of a force signal and a torque signal on the joint or end effector. For measuring a single force signal or torque signal, the measurement can be performed using a force sensing device with only one force sensing element, or it can be performed using a force sensing device with multiple force sensing elements; this application does not impose any limitation on this. For torque-controlled robots, torque sensors are generally installed on each joint to measure the torque signal of the joint during movement. The joint controller can then measure the vibration at the joint using the time derivative corresponding to the torque signal. Furthermore, vibration of the robot's end effector is a common problem during frequent contact with the environment, such as polishing, grinding, and deburring. During these processes, the robot needs to stably cope with high-frequency interference while maintaining contact with the workpiece. Vibration measurement of the end effector can be included in the robot controller. Force / torque sensors are installed on the end effector. Therefore, the force and torque signals of the end effector are first measured using these sensors, and then the vibration of the robot's payload is measured using the time derivatives of these force and torque signals. The force and torque signals include force signals in three orthogonal directions and torque signals in three orthogonal directions.

[0030] In step S120, the first output signal is processed by an analog differentiating circuit to obtain a second output signal containing a differential component of at least one of the stress signal and the torque signal. The differential component of the force signal is the time derivative of the force signal, and the differential component of the torque signal is the time derivative of the torque signal. In this application, the force control signal includes control targets for force and / or torque, as well as control targets for the differential components of force and / or torque. This application obtains the corresponding differential components by pre-processing the measured force signal and / or torque signal, and then uses them to suppress vibrations in the force control signal.

[0031] The aforementioned force / torque sensors typically operate by measuring deformation on a mechanical structure. When the force / torque sensor is multi-channel, this deformation can be simultaneously picked up by multiple sensing elements and converted into electrical signals. Therefore, the force signal can include multiple measured force signals, and the torque signal can include multiple measured torque signals. In one example, let f be the force applied to the structure, and x... i Let f be the analog signal output by the i-th sensor among n available sensing elements. Then f can be expressed by the function f = g(x1, x2, ..., x...). n The calculation is performed. This function can be obtained through modeling and fine-tuned during the calibration phase. Furthermore, the time derivative of the applied force is: In order to calculate Partial derivatives need to be calculated separately. and Given the analytical model f = g(x1, x2, ..., x... n For a given set of x i , The item can be calculated and estimated. The item will need to be reliably measured or from x i The conclusion is as follows.

[0032] Typically, computing units such as microprocessors used as joint controllers process analog signals x. i The value is digitized, and f is calculated digitally in a microprocessor. If it is necessary to obtain... Some digital differentiation schemes will be used. For example, where x i，last x is the digitized value within a certain time interval Δt in the past. i The final reading, however, is different from... Multiplication amplifies noise, leading to... The estimation is insufficient. Even though estimators and filters can be used to reduce high-frequency noise, they often lead to hysteresis and aliasing effects, which adversely affect the performance of systems using these sensors in feedback control.

[0033] Robot force / torque control systems typically require sampling rates as high as 10–100 kHz. Therefore, the time derivatives of force and torque acquired digitally (via finite differentials) become noisy due to the significant amplification effect of the high sampling rate. For example, consider the finite differential equation shown below:

[0034]

[0035] Where Δf i It is the time derivative of the force signal in the i-th control cycle, f i and f i-1These are two force signals from two consecutive control cycles, where Δt is the sampling time and η is the input force signal. i and η i-1 Both are white noise signals. For a control system operating at 10kHz, Δf i Signal attenuation is equivalent to Obviously, (η) i -η i-1 The residual will be amplified by a factor of 10,000. Typically, a low-pass filter can be added to filter out noise. However, due to the large amplification, completely removing noise is very challenging. Furthermore, the phase lag introduced by the filter negatively impacts the stability of the controller. To maintain stability, the control gain needs to be reduced to limit the excitation of noisy signals.

[0036] This application obtains the result by performing analog differential processing on the output of the sensing element. Since the time derivative is performed directly in the simulation domain, it does not need to be multiplied by... This avoids the problem of white noise amplification. Since analog differentiation does not amplify noise in nature, it is independent of the choice of sampling rate, thus the control system can be designed with a high sampling rate to achieve good damping and disturbance suppression response.

[0037] Specifically, this can be achieved using analog differentiating circuits, which can be active or passive differentiators. Analog differentiating circuits can include components such as operational amplifiers, resistors, capacitors, and / or inductors. In one example, such as... Figure 2 The diagram shows a typical single-channel analog differentiator circuit. This simplified circuit includes an operational amplifier, a first resistor R1, a second resistor R2, a first capacitor C1, and a second capacitor C2. The resistors and capacitors determine the gain and the high-frequency roll-off frequency. The analog differentiator circuit can be integrated and work with force sensing devices such as force sensors and torque sensors.

[0038] In one embodiment, when the force sensing device includes multiple force sensing elements and the first output signal includes multiple measurement signals, the above step S120 may include: processing the multiple measurement signals one-to-one through multiple analog differentiating circuits to obtain the differential components of the multiple measurement signals; and calculating and determining the second output signal based on the differential components of the multiple measurement signals.

[0039] The joint controller may include an analog differentiator (i.e., the analog differentiating circuit described above). Since both force and torque signals include components in three orthogonal directions, in the actual measurement process of the force sensing device, n sets of force sensing elements in each direction will simultaneously measure the same force signal and / or torque signal. Please refer to... Figure 3 It consists of the measurement signals (x1, x2, ..., x) measured for each force sensing element.i ,…,x n This is a schematic diagram of analog differentiation processing in the analog domain. The measurement signal can refer to at least one of a force signal and a torque signal in a certain direction. After analog differentiation processing by the analog differentiator, the analog differential signal corresponding to each measurement signal can be obtained. Furthermore, the analog signals of multiple force sensing elements, along with their differential components, are... The readings can be fed into a logic processing unit, such as a microprocessor, digital signal processor, or computer processor, for subsequent digital processing. Based on the signal correspondence between the force sensing device and its force sensing element, a second output signal can be calculated and determined according to the differential components of the multiple measured signals obtained.

[0040] Taking the measurement of torque on a single joint of a robot as an example, n sets of torque sensors can be used to simultaneously measure the torque on that joint. Therefore, the torque signal can include multiple measured torque signals, and all of these measured torque signals are analog signals. The calculation process for one joint is illustrated below. Assume that the measured torque signals output by the n sets of torque sensors corresponding to that joint are (τ1, τ2, ..., τ...). n The joint controller then sends each measured torque signal in the torque signal to the corresponding analog differentiator for analog differentiation processing, thereby obtaining the differential component corresponding to each measured torque signal, represented as... Furthermore, based on the differential components of the measured torque signals in each direction, the differential components of the torque signals in the corresponding directions can be calculated. The differential components of the torque signals in the three orthogonal directions can be expressed as follows: Furthermore, based on the measured torque signals in each direction, the torque signals in the corresponding directions can be calculated. The torque signals in the three orthogonal directions can be expressed as (τ x ,τ y, τ z ).

[0041] In another optional embodiment, step S120 may include: fusing multiple measurement signals to obtain one or more fused measurement signals; processing the one or more fused measurement signals one-to-one through one or more analog differentiating circuits to obtain differential components of the one or more fused measurement signals; and calculating and determining a second output signal based on the differential components of the one or more fused measurement signals.

[0042] like Figure 4As shown, before analog differentiation processing, the analog signals from n sets of force sensing elements can be partially or completely fused in the analog domain. This fusion can be performed once or multiple times. The fused signal is then input to an analog differentiator for analog differentiation processing. Furthermore, the output of the analog differentiator and the output of the force sensing elements are passed to a logic processing unit for subsequent digital processing. Based on the signal correspondence between the force sensing device and its force sensing elements, a second output signal can be calculated and determined according to the differential components of one or more fused measurement signals. An example of this fusion process is the Wheatstone bridge, which is typically used with strain gauges to measure deformation when a force is applied to a structure.

[0043] The measurement signal (x1, x2, ..., x i ,…,x n Taking a measured torque signal in only one direction as an example, and considering multiple fusion operations, the multiple measured torque signals are first fused multiple times to obtain multiple fused measured torque signals. Then, each fused measured torque signal is sent to a corresponding analog differentiator for analog differentiation processing, thereby obtaining the differential components of the multiple fused measured torque signals. Furthermore, based on the differential components corresponding to each fused measured torque signal in each direction, the differential components of the torque signal in the corresponding direction can be calculated. The differential components of the torque signals in three orthogonal directions can be expressed as follows:

[0044] The above-mentioned method for measuring the vibration of joints and loads, by performing differentiation directly in the analog domain, can obtain a high signal-to-noise ratio time derivative of force and / or torque signals despite a very short sampling period, thereby improving the high fidelity of the differential signal and enabling highly responsive and noise-free vibration suppression control.

[0045] In step S130, the second output signal is used as the control signal for force control to suppress vibration.

[0046] In one embodiment, when the first output signal characterizes the output torque of the robot joint, the second output signal characterizes the differential component of that output torque. The method further includes obtaining the desired torque and the differential component of the desired torque of the robot joint. For torque-controlled robot joints, in the vibration suppression of the control signal used for force control, it is also necessary to obtain the desired torque and the corresponding differential component of the desired torque, respectively represented by τ. des Indicates the desired torque. This represents the differential component of the desired torque.

[0047] Furthermore, step S130 includes adjusting the motor output of the robot joint based on the desired torque, the differential component of the desired torque, and the second output signal.

[0048] Joint controllers can also include feedforward controllers and feedback controllers. Taking the calculation of the vibration compensation torque value of a certain joint in a robot as an example, combined with... Figure 5 The technical solution of this application is described below. First, the joint obtains the required feedforward quantity u through the feedforward controller. feedforward The joint moves according to the desired torque. The torque sensor on the joint can measure the actual torque signal (i.e., the output torque, denoted by τ) in real time. This torque signal, after analog differential processing, yields a differential component (denoted by τ). The input (indicated by the input) will be fed into the feedback controller. Without limitation, other state feedback quantities can also be input into the feedback controller. Therefore, based on the desired torque of the joint, the differential component of the desired torque, the output torque, and the differential component of the output torque, the feedback controller establishes a torque control model as shown in the following equation:

[0049] u = u feedback +u feedforward +u′

[0050] Where u is the output of the joint's axis motor, u feedback For the output of the feedback controller, u feedforward For the output of the feedforward controller, in one example, u feedforward It can be designed to the desired torque value obtained from the above calculation, i.e., u feedforward =τ des u′ is an additional term that includes the treatment of higher-order dynamics, for example, it can make This is the higher-order time derivative of the desired torque of the joint.

[0051] Using the closed-loop control model described above, the vibration compensation torque value that needs to be fed back can be obtained, as shown in the following formula:

[0052]

[0053] Among them, K T K s All are proportional gains.

[0054] Based on the aforementioned vibration compensation torque values, vibration suppression is applied to the control signals used for force control at the joints. The joint controller adjusts the joint torque of the corresponding axis motor according to the vibration compensation torque value for each joint to perform vibration compensation. Alternatively, the vibration compensation force value at the joint can be calculated based on actual control needs, and vibration suppression can be applied to the corresponding control signals.

[0055] In another embodiment, when the first output signal characterizes the output force of the robot end effector, the second output signal characterizes a micro-component of that output force. The method further includes obtaining the desired force and the micro-component of the desired force from the robot end effector. In the vibration suppression of the control signal used for force control on the end effector, it is also necessary to obtain the desired force and the corresponding micro-component of the desired force, respectively represented by F... des Indicates expectancy. This represents the desired force differential component. In addition, other parameters, such as displacement and velocity, can also be obtained. Furthermore, step S130 includes adjusting the output displacement of the robot's end effector based on the desired force, the desired force differential component, and the second output signal.

[0056] Taking the calculation of the vibration compensation force value of the robot's end effector as an example, such as Figure 6 As shown, the end effector obtains the required feedforward amount u through the feedforward controller. feedforward For example, the desired displacement (using X) des (Representation), expected force, etc. During motion, the force / torque sensor on the end effector can measure the actual force signal (i.e., output force) acting on the robot structure in real time. This force signal is then processed by analog differentiation to obtain the differential component (using...). This allows a feedback controller to operate on the error between the desired force and the output force. Typically, a proportional-integral (PI) controller is applied to the error. For example, a force damping term can be added to the feedback control quantity. and velocity damping term The vibration compensation force value is obtained, where K d K v All are proportional gains. It is the speed of the end effector. Based on the obtained vibration compensation force value (i.e., u) feedback The controller suppresses vibration by applying the corresponding force control signal on the end effector. The controller will adjust the output displacement of the end effector according to the obtained vibration compensation force value, thereby suppressing the vibration of the robot end effector.

[0057] While various control schemes are available for vibration suppression, the most common and effective method is likely to incorporate a damping term into the vibration measurement, such as motor speed. Linkage speed And the time derivative of the force. But and Typically derived from finite derivatives, this method may generate noise signals. However, the vibration suppression method for force control signals provided in this application improves the signal-to-noise ratio and time derivative of force and torque signals by eliminating white noise amplification that scales linearly with the sampling frequency. Furthermore, since the signals do not undergo finite derivatives or low-pass filtering, they are not adversely affected by phase lag without compromising the stability of the control system. On the other hand, the noiseless time derivative of the force can be incorporated into a fast feedback control loop, resulting in simple yet robust damping, thereby enhancing the vibration suppression performance of the force control signal.

[0058] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0059] This application also provides a computer device, such as... Figure 7 As shown, the device includes a memory and a processor connected via a system bus. The memory stores processor-executable instructions that, when executed by the processor, cause the processor to: acquire a first output signal from a force sensing device, the first output signal including at least one of a force signal and a torque signal; process the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal; and use the second output signal for vibration suppression as a control signal for force control.

[0060] In one embodiment, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: processing the plurality of measurement signals one-to-one through the plurality of analog differentiating circuits to obtain differential components of the plurality of measurement signals; and calculating and determining the second output signal based on the differential components of the plurality of measurement signals.

[0061] In one embodiment, the force sensing device includes a plurality of force sensing elements, and the first output signal includes a plurality of measurement signals; the step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: fusing the plurality of measurement signals to obtain one or more fused measurement signals; processing the one or more fused measurement signals one by one through one or more of the analog differentiating circuits to obtain differential components of the one or more fused measurement signals; and calculating and determining the second output signal based on the differential components of the one or more fused measurement signals.

[0062] In one embodiment, the first output signal characterizes the output torque of the robot joint, and the processor-executable instructions, when executed by the processor, also cause the processor to: acquire the desired torque and the desired torque micro-component of the robot joint; the control signal vibration suppression of using the second output signal for force control includes: adjusting the motor output of the robot joint based on the desired torque, the desired torque micro-component, and the second output signal.

[0063] In one embodiment, the first output signal characterizes the output force of the robot end effector, and the processor-executable instructions, when executed by the processor, also cause the processor to: acquire the desired force and a desired force micro-component of the robot end effector; the control signal vibration suppression for using the second output signal for force control includes: adjusting the output displacement of the robot end effector based on the desired force, the desired force micro-component, and the second output signal.

[0064] This application also provides a non-transitory computer-readable storage medium storing processor-executable instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the above-described method embodiments.

[0065] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for suppressing vibration of a control signal for force control, comprising: Acquire a first output signal from a force sensing device, wherein the first output signal includes at least one of a force signal and a torque signal; The first output signal is processed by an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal. as well as The second output signal is used as a control signal for force control to suppress vibration. The first output signal characterizes the output torque of the robot joint, and the method further includes: Obtain the desired torque and its differential component from the robot joint; The vibration suppression of the control signal used for force control by the second output signal includes: The motor output of the robot joint is adjusted based on the desired torque, the differential component of the desired torque, and the second output signal.

2. The method according to claim 1, characterized in that, The force sensing device includes multiple force sensing elements, and the first output signal includes multiple measurement signals; The step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: The multiple measurement signals are processed one-to-one by multiple analog differentiating circuits to obtain the differential components of the multiple measurement signals; and The second output signal is determined based on the differential calculations of the plurality of measurement signals.

3. The method according to claim 1, characterized in that, The force sensing device includes multiple force sensing elements, and the first output signal includes multiple measurement signals; The step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: The multiple measurement signals are fused to obtain one or more fused measurement signals; The one or more fused measurement signals are processed one-to-one by one of the analog differentiating circuits to obtain the differential components of the one or more fused measurement signals; and The second output signal is determined based on the differential components of the one or more fused measurement signals.

4. A computer device comprising a memory and a processor, the memory storing processor-executable instructions that, when executed by the processor, cause the processor to: Acquire a first output signal from a force sensing device, wherein the first output signal includes at least one of a force signal and a torque signal; By processing the first output signal using an analog differentiating circuit, a second output signal corresponding to a differential component of at least one of the force signal and the torque signal is obtained; and The second output signal is used as a control signal for force control to suppress vibration. The first output signal characterizes the output torque of the robot joint, and the processor-executable instruction causes the processor to: Obtain the desired torque and its differential component from the robot joint; The vibration suppression of the control signal used for force control by the second output signal includes: The motor output of the robot joint is adjusted based on the desired torque, the differential component of the desired torque, and the second output signal.

5. The computer device according to claim 4, characterized in that, The force sensing device includes multiple force sensing elements, and the first output signal includes multiple measurement signals; The step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: The multiple measurement signals are processed one-to-one by multiple analog differentiating circuits to obtain the differential components of the multiple measurement signals; and The second output signal is determined based on the differential calculations of the plurality of measurement signals.

6. The computer device according to claim 4, characterized in that, The force sensing device includes multiple force sensing elements, and the first output signal includes multiple measurement signals; The step of processing the first output signal through an analog differentiating circuit to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal includes: The multiple measurement signals are fused to obtain one or more fused measurement signals; The one or more fused measurement signals are processed one-to-one by one of the analog differentiating circuits to obtain the differential components of the one or more fused measurement signals; and The second output signal is determined based on the differential components of the one or more fused measurement signals.

7. A computer-readable storage medium having stored thereon processor-executable instructions, which, when executed by a processor, cause the processor to perform the steps of the method according to any one of claims 1 to 3.

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