Robot control method, device, robot and readable storage medium

Abstract

The application provides a robot control method and device, a robot and a readable storage medium, and belongs to the technical field of robots. The robot comprises a mechanical arm, the mechanical arm comprises an end effector, the end effector is used for clamping a load, and the end effector comprises a spline structure and a screw rod structure. The screw rod structure can be telescopically extended relative to the spline structure. The robot control method comprises the following steps: determining a first acceleration and a second acceleration of the mechanical arm according to a joint angle of the mechanical arm, the first acceleration being the acceleration of the end effector, and the second acceleration being the centroid acceleration of the load; determining a bending moment at the spline structure according to the first acceleration, the second acceleration, a first mass and a second mass, the first mass being the mass of the extended part of the screw rod structure relative to the spline structure, and the second mass being the mass of the load; and adjusting the speed parameter of the mechanical arm according to the bending moment and the centroid acceleration of the load.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and more specifically, relates to a robot control method, device, robot, and readable storage medium. Background Technology

[0002] With the trend of industrial automation, robots are widely used in industries such as food, automobiles, and 3C products to perform tasks such as handling and assembly.

[0003] In related technologies, when planning the trajectory of a robot, the operating parameters are constrained based on the physical characteristics of each axis of the robot, without taking into account the physical characteristics of the transmission mechanical structure. This results in large bending torques in the transmission components during robot operation, leading to damage to the transmission components. Summary of the Invention

[0004] The present invention aims to solve the technical problem that the transmission components are subject to large bending moments during robot operation, which leads to damage to the transmission components, in the existing technology or related technologies.

[0005] Therefore, the first aspect of the present invention proposes a robot control method.

[0006] A second aspect of the present invention provides a robot control device.

[0007] A third aspect of the present invention provides a robot control device.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] The fifth aspect of the present invention provides a robot.

[0010] In view of this, according to a first aspect of the present invention, a robot control method is proposed. The robot includes a robotic arm, the robotic arm includes an end effector, the end effector includes a spline structure and a lead screw structure, the lead screw structure being capable of extension and retraction relative to the spline structure; the robot control method includes: determining a first acceleration and a second acceleration of the robotic arm based on the joint angles of the robotic arm, the first acceleration being the acceleration of the end effector and the second acceleration being the acceleration of the center of mass of the load; determining a bending moment at the spline structure based on the first acceleration, the second acceleration, a first mass, and a second mass, the first mass being the mass of the portion of the lead screw structure extending relative to the spline structure and the second mass being the mass of the load; and adjusting the speed parameters of the robotic arm based on the bending moment.

[0011] The robot control method provided by this invention is applied to a robot, which includes a robotic arm for clamping a load. The robotic arm includes an end effector, which can be a ball screw spline. The end effector includes a spline structure and a screw structure for transmission.

[0012] In this technical solution, the joint angles of the robotic arm are continuously monitored during the operation of the robot. Based on the joint angles of the robotic arm, the acceleration of the end effector of the robotic arm and the second acceleration of the load center of mass can be calculated.

[0013] It should be noted that the technical solution of this invention is illustrated using a SCARA robot as an example. The robotic arm of the SCARA robot includes four joint axes, so the joint angles include the joint angles corresponding to the four joints.

[0014] In this technical solution, the first mass is the mass of the downwardly extending portion of the lead screw structure relative to the spline structure. The second mass is the mass of the load gripped by the robotic arm. During the robot's movement, the lead screw structure moves synchronously with the load. Therefore, based on the first mass, the second mass, the first acceleration, and the second acceleration, the bending moment at the spline structure can be determined. The speed parameters of the robotic arm are then adjusted based on this bending moment, thereby constraining the robotic arm's motion speed and preventing damage to the spline structure due to overspeeding.

[0015] Specifically, based on the first mass and the first acceleration, the net external force acting on the lead screw structure relative to the extended portion of the spline structure during the robot's movement can be determined. Based on the second mass and the second acceleration, the net external force acting on the load portion can be determined. Based on the two net external forces obtained above and the corresponding lever arms, the bending moment corresponding to the spline structure can be determined.

[0016] In this technical solution, the joint angles of the robotic arm are continuously monitored during robot operation. Based on these joint angles, the bending moment at the spline structure during operation can be determined. The robot then adjusts the current speed parameters of the robotic arm according to this bending moment. This effectively constrains the bending moment generated on the spline structure during robot movement, ensuring that the bending moment does not exceed the maximum allowable bending moment of the spline structure. This protects the spline structure from damage and extends the robot's lifespan.

[0017] In any of the above technical solutions, determining the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass includes: determining a first resultant external force based on the first mass and the first acceleration, wherein the first resultant external force is the resultant external force of the lead screw structure relative to the extended portion of the spline structure; determining a second resultant external force based on the second mass and the second acceleration, wherein the second resultant external force is the resultant external force of the load; obtaining a first lever arm and a second lever arm, wherein the first lever arm is the lever arm of the lead screw structure relative to the extended portion of the spline structure relative to the spline structure, and the second lever arm is the lever arm of the load relative to the spline structure; and determining the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force.

[0018] In this technical solution, the first resultant external force is the resultant external force exerted on the protruding portion of the lead screw structure relative to the spline structure during the movement of the robotic arm. The second resultant external force is the resultant external force exerted on the load clamped by the robotic arm during the movement of the robotic arm.

[0019] In this technical solution, according to Newton's second law, the net external force acting on the robot during its motion can be calculated using mass and acceleration. The first net external force and the second net external force are calculated based on the first mass, the first acceleration, the second mass, and the second acceleration, respectively.

[0020] In this technical solution, the first lever arm is the lever arm of the portion of the lead screw structure extending relative to the spline structure, and the second lever arm is the lever arm of the load on the spline structure. The torque of the lead screw structure relative to the portion of the spline structure can be calculated based on the first lever arm and the first resultant external force. The torque of the load can be calculated based on the second lever arm and the second resultant external force. The bending moment at the spline structure can be calculated based on the first and second torques.

[0021] Specifically, the bending moment experienced by the spline structure includes the moment of the downward-extending part of the lead screw and the moment of the load part. Therefore, the bending moment experienced by the spline structure can be accurately calculated by using the first acceleration and first mass of the downward-extending part of the lead screw, and the second acceleration and second mass of the load part.

[0022] In the technical solution of this application, the bending moment of the spline structure is calculated based on the first resultant external force and the first torque of the lead screw structure relative to the extended part of the spline structure, and the second resultant external force and the second torque of the load part. This technical solution takes into account the influence of the resultant external force of the lead screw structure relative to the extended part of the spline structure and the resultant external force of the load part on the bending moment of the spline structure, thereby improving the accuracy of determining the bending moment of the spline structure.

[0023] In any of the above technical solutions, obtaining the first lever arm and the second lever arm includes: determining the first lever arm based on a first distance, the first distance being related to the length of the protruding portion of the lead screw structure relative to the spline structure; and determining the second lever arm based on a second distance and a third distance, the second distance being the distance from the spline structure to the load, and the third distance being the distance from the load edge in the direction of gravity to the load center of mass.

[0024] In this technical solution, the first distance can be half the length of the protruding part of the lead screw structure relative to the spline structure. The first lever arm is the lever arm of the lead screw structure acting on the spline structure relative to the protruding part of the spline structure, and therefore this lever arm is related to the first distance.

[0025] In this technical solution, the second distance is the distance from the spline structure to the load portion, i.e., the distance between the spline structure and the load. The third distance is the distance from the load edge in the z-direction to the load's center of mass. The second lever arm is the lever arm of the load portion, and therefore, this lever arm is related to the distance from the spline structure to the load, as well as the distance between the load edge and the load's center of mass in the z-direction. The second lever arm can be accurately calculated using the second and third distances.

[0026] It should be noted that the robot can collect posture information of the robotic arm during its operation through sensors, and determine the first distance, the second distance, and the third distance based on the collected posture information of the robotic arm.

[0027] In the technical solution of this application, a first lever arm is determined by half of a first distance associated with the extension of the lead screw structure relative to the spline structure, and a second lever arm is determined by the sum of a second distance and a third distance associated with the load. By calculating the first and second lever arms separately, the accuracy of determining the first and second lever arms can be improved, thereby ensuring the accuracy of subsequent control.

[0028] In any of the above technical solutions, the load is an eccentric load;

[0029] The second lever arm is determined based on the second distance and the third distance, including: obtaining the coordinate system angle, which is the angle between the load centroid coordinate system and the base coordinate system; and determining the second lever arm based on the coordinate system angle, the second distance, and the third distance.

[0030] In this technical solution, when the load is an eccentric load, the second lever arm vector has a lever arm length component L in the x-direction. 2x The value is not zero, and the second lever arm vector has a lever arm length component L in the y direction. 2y Since the value is not 0, the second lever arm is calculated based on the second distance, the third distance, and the angle between the load centroid coordinate system and the base coordinate system.

[0031] Specifically, the load is an eccentric load, and the eccentric distances of the second lever arm in the x and y directions are L and L, respectively. x With L y When the robot moves, the load center of mass coordinate system rotates and forms an angle of α with the base coordinate system. Therefore, the second lever arm can be calculated based on the second distance, the third distance and the coordinate system angle.

[0032] It should be noted that the robot can determine whether the load is eccentric based on the joint angles of each joint of the robotic arm. During robot operation, the robot continuously acquires the joint angles of each joint and determines whether the load is eccentric by comparing the joint angles with a preset joint angle range.

[0033] In the technical solution of the present invention, when the load is an eccentric load, the load centroid coordinate system has an angle with the base coordinate system due to rotation. Therefore, the lever arm can be calculated based on the coordinate angle, the first distance, and the second distance, which improves the accuracy of calculating the second lever arm when the load is an eccentric load.

[0034] In any of the above technical solutions, determining the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force includes: determining the first moment based on the first lever arm and the first resultant external force; determining the second moment based on the second lever arm and the second resultant external force; and determining the bending moment based on the first moment and the second moment.

[0035] In this technical solution, the first torque is the torque brought about by the extension of the lead screw structure relative to the spline structure, and the second torque is the torque brought about by the load. The bending torque on the spline structure is calculated based on the first torque and the second torque.

[0036] Specifically, the first torque is obtained by multiplying the first resultant external force with the first lever arm, and the second torque is obtained by multiplying the second resultant external force with the second lever arm.

[0037] In this technical solution, the bending moment experienced by the spline structure includes the moment generated by the lead screw structure relative to the extended portion of the spline structure and the moment generated by the load. Based on the first and second moments, the total moment at the spline structure can be calculated, i.e., the total moment of the lead screw structure relative to the extended portion of the spline structure and the load on the spline structure. Having calculated the total moment, the bending moment can be calculated based on the components of the total moment in the x and y directions.

[0038] In the technical solution of this invention, based on the first resultant external force and the corresponding first lever arm, the first torque exerted by the lead screw structure relative to the target portion of the spline structure can be calculated, and based on the second resultant external force and the corresponding second lever arm, the second torque exerted by the load can be calculated. The robot can determine the bending torque experienced by the spline structure during the movement of the robotic arm based on the first and second torques, facilitating subsequent constraint control of the speed parameters based on this bending torque.

[0039] In any of the above technical solutions, determining the first acceleration and the second acceleration of the robotic arm based on the joint angle of the robotic arm includes: determining a first Jacobian matrix and a second Jacobian matrix based on the joint angle of the robotic arm, wherein the first Jacobian matrix is ​​the Jacobian matrix of the end effector and the second Jacobian matrix is ​​the Jacobian matrix of the load center of mass; determining the first acceleration based on the first Jacobian matrix; and determining the second acceleration based on the second Jacobian matrix.

[0040] In this embodiment, after detecting the joint angle of the robotic arm, a first Jacobian matrix and a second Jacobian matrix can be determined based on the joint angle of the robotic arm. A first acceleration and a second acceleration are then determined based on the first Jacobian matrix and the second Jacobian matrix.

[0041] Specifically, we obtain the first relationship between the robot's Cartesian velocity vector, the robot's Jacobian matrix, and the robot's joint velocity vector. Differentiating the first relationship yields the second relationship between acceleration, the Jacobian matrix, and joint angles. Substituting the first Jacobian matrix and joint angles into the second relationship allows us to calculate the first acceleration. Substituting the second Jacobian matrix and joint angles into the second relationship allows us to calculate the second acceleration.

[0042] In the technical solution of this invention, during the operation of the robotic arm, the robot continuously detects the joint angles of the robotic arm and determines the first Jacobian matrix of the end effector based on the joint angles, as well as the second Jacobian matrix of the load center of mass based on the joint angles. Through a second relationship, the first acceleration can be calculated based on the first Jacobian matrix and the first mass, and the second acceleration can be calculated based on the second Jacobian matrix and the second mass, thereby improving the accuracy of the first acceleration of the lead screw structure relative to the extended portion of the spline structure.

[0043] In any of the above technical solutions, adjusting the speed parameters of the robotic arm according to the bending moment includes: determining a constraint ratio based on the bending moment and a preset moment; adjusting the speed parameters of the robotic arm through the constraint ratio; wherein the speed parameters include at least one of the following: running speed and running acceleration.

[0044] In this technical solution, since the bending moment of the spline structure is large, it will cause damage to the spline structure. Therefore, this technical solution continuously detects the bending moment at the spline structure during the movement of the robotic arm, and determines the constraint ratio for constraining the speed parameters based on the bending moment and the preset moment. The speed parameters of the robotic arm are adjusted by the constraint ratio to prevent the bending moment at the spline structure from exceeding the maximum moment it can withstand.

[0045] It should be noted that the preset torque is related to the physical parameters of the spline structure. The maximum bending moment that the spline structure can withstand is determined through prior testing, and this maximum bending moment is determined as the preset torque.

[0046] In this technical solution, the speed parameters include running speed and / or running acceleration. After calculating the constraint ratio, the running speed and / or running acceleration are adjusted by the constraint ratio. This can prevent the bending moment at the spline structure of the robotic arm from being higher than the preset moment for a long time during operation, thereby improving the service life of the robotic arm during operation.

[0047] Specifically, the constraint ratio is calculated based on the bending moment obtained from actual testing and the preset moment.

[0048] In the technical solution of the present invention, during the operation of the robot-driven robotic arm, a constraint ratio is determined by the bending moment at the spline structure detected and the preset moment. Based on the constraint ratio, the running speed and / or running acceleration of the robotic arm are adjusted, which can prevent the spline structure of the robotic arm from being subjected to a large bending moment during operation, thereby improving the service life of the robot as a whole.

[0049] In any of the above technical solutions, determining the constraint ratio based on the bending moment and the preset moment includes: determining the ratio of the bending moment to the preset moment as the constraint ratio based on the fact that the load is a non-eccentric load.

[0050] In this technical solution, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is not eccentric, the ratio between the bending moment and the preset moment is used as the constraint ratio. Since the load is not eccentric, the influence of the gravity term moment of the load on the bending moment does not need to be considered when calculating the constraint ratio; therefore, the ratio of the bending moment to the preset moment is directly used as the constraint ratio.

[0051] Specifically, if the load is determined to be a non-eccentric load, it means that there is no gravity term torque in the bending moment that cannot be reduced. Therefore, the ratio between the bending moment and the preset moment can be used as the constraint ratio to adjust the speed parameter to ensure the accuracy of the adjustment.

[0052] In the technical solution of the present invention, when the load is a non-eccentric load, the detected bending moment does not include the gravity term moment of the load that cannot be reduced. The ratio of the bending moment to the preset moment can be calculated to obtain the constraint ratio, which ensures the accuracy of adjusting the speed parameters by the constraint ratio when the load is a non-eccentric load, and further improves the service life of the robot.

[0053] In any of the above technical solutions, determining the constraint ratio based on the bending moment and the preset moment includes:

[0054] Based on the fact that the load is an eccentric load, obtain the gravitational torque of the load;

[0055] The constraint ratio is determined based on the bending moment, the gravity moment, and the preset moment.

[0056] In this technical solution, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is eccentric, the detected bending moment includes the gravity term moment of the load that cannot be reduced. At this point, the constraint ratio needs to be calculated so that the calculated constraint ratio can constrain the bending moment of the spline structure.

[0057] Before obtaining the gravitational torque of the load, the process includes: determining that the load's acceleration in the z-direction is 0, meaning that no force is applied to the load in the z-direction during the movement of the load by the robotic arm. Therefore, the torque generated by the load on the spline structure in the z-direction is the load's gravitational torque. Specifically, if the load is an eccentric load and its acceleration in the z-direction is 0, it is determined that the detected bending moment includes the gravitational torque that cannot be reduced; therefore, the load's gravitational torque is obtained.

[0058] In the technical solution of the present invention, when the load is an eccentric load, the detected bending moment includes the gravity term moment of the load that cannot be reduced. The gravity term moment of the load is obtained, and the constraint ratio is calculated based on the bending moment, the preset moment, and the gravity term moment. This ensures the accuracy of adjusting the speed parameters through the constraint ratio when the load is an eccentric load, and further improves the service life of the robot.

[0059] In any of the above technical solutions, adjusting the speed parameters of the robotic arm by constraining the proportion includes:

[0060] If the robot arm's motion trajectory is a straight line, the robot arm's acceleration is reduced according to the constraint ratio; if the robot arm's motion trajectory is a circular arc, the robot arm's speed or acceleration is reduced according to the constraint ratio.

[0061] In this technical solution, before constraining the speed parameters of the robotic arm based on the constraint ratio, it is necessary to determine the motion trajectory of the robot driving the robotic arm, and adjust the speed parameters of the robotic arm accordingly based on different motion trajectories.

[0062] Specifically, when the robotic arm's motion trajectory is a straight line, the acceleration constraint of the Cartesian control's motion can be reduced proportionally.

[0063] For example, with a constraint ratio of k, if the movement trajectory of the robotic arm is a branch trajectory, then the acceleration of the robotic arm will be reduced by a factor of k.

[0064] Specifically, when the robotic arm's motion trajectory is a circular arc, the radius R of the current circular arc trajectory and the current Cartesian velocity V are taken, and the magnitude F of the first centripetal force generated at the current moment is calculated according to the centripetal force formula. cenObtain the current Cartesian acceleration value A, and calculate the magnitude F of the third net external force at the current moment according to Newton's second law. total .

[0065] In this technical solution, based on the fact that the robotic arm's motion trajectory is a circular arc, the first centripetal force and the third resultant external force of the robotic arm are obtained. When the first centripetal force equals the third resultant external force, the operating speed of the robotic arm is reduced according to a constraint ratio. When the third resultant external force is not equal to the first centripetal force, a target force for changing the speed is calculated. When the target force is greater than or equal to the first centripetal force, the operating acceleration of the robotic arm is reduced according to a constraint ratio. When the target force is less than the first centripetal force, the operating speed of the robotic arm is reduced according to a constraint ratio.

[0066] In the technical solution of the present invention, when the movement trajectory of the robotic arm is a straight line, the running acceleration of the robotic arm is directly reduced by the constraint ratio. When the movement trajectory of the robotic arm is a curved trajectory, the running acceleration or running speed of the robotic arm is reduced by the constraint ratio, which can ensure that the spline structure will not be damaged due to excessive bending moment.

[0067] In any of the above technical solutions, adjusting the speed parameters of the robotic arm by constraining the proportion includes:

[0068] Based on the motion trajectory of the robotic arm as the joint motion trajectory, the third acceleration of the target joint is obtained;

[0069] Based on the fact that the third acceleration is zero, the operating speed of the robotic arm is reduced according to the constraint ratio;

[0070] Based on the fact that the third acceleration is not equal to zero, the operating acceleration of the robotic arm is reduced according to the constraint ratio.

[0071] The third acceleration refers to the acceleration of the target joint in the robot, which can be collected by sensors during robot operation. For example, if the robot is a SCARA robot, the third acceleration includes the acceleration of the first joint axis. Acceleration of the second joint axis Acceleration of the third joint axis acceleration of the fourth joint axis

[0072] In this technical solution, when the movement trajectory of the robotic arm is a joint movement trajectory, it is necessary to obtain the third acceleration, and based on whether the third acceleration is equal to zero, select to reduce the running speed or running acceleration of the robotic arm by constraining the ratio.

[0073] In the technical solution of the present invention, when the motion trajectory of the robotic arm is a joint motion trajectory, the third acceleration of the target joint axis in the robotic arm is obtained, and the running speed or running acceleration of the robotic arm is constrained by the constraint ratio based on the third acceleration, so as to ensure that the spline structure will not be damaged due to excessive bending moment.

[0074] According to a second aspect of the present invention, a robot control device is provided. The robot includes a robotic arm, the robotic arm includes an end effector, the end effector includes a spline structure and a lead screw structure, the lead screw structure being extendable and retractable relative to the spline structure. The robot control device includes:

[0075] The determination module is used to determine the first acceleration and the second acceleration of the robotic arm based on the joint angle of the robotic arm. The first acceleration is the acceleration of the end effector, and the second acceleration is the acceleration of the center of mass of the load.

[0076] The determination module is used to determine the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass. The first mass is the mass of the protruding part of the screw structure relative to the spline structure, and the second mass is the mass of the load.

[0077] The adjustment module is used to adjust the speed parameters of the robotic arm and the acceleration of the center of mass of the load according to the bending moment.

[0078] The robot control device provided by this invention continuously monitors the joint angles of the robotic arm during robot operation. Based on these joint angles, it can determine the bending moment at the spline structure during the robotic arm's operation. The robot then adjusts the current speed parameters of the robotic arm according to this bending moment. This achieves constraint on the bending moment generated by the robot on the spline structure during movement, ensuring that the bending moment does not exceed the maximum allowable bending moment of the spline structure, thus protecting the spline structure from damage and extending the robot's service life.

[0079] According to a third aspect of the present invention, a robot control device is provided, comprising: a memory storing a program or instructions; and a processor executing the program or instructions stored in the memory to implement the steps of the robot control method as described in any of the technical solutions of the first aspect, thus possessing all the beneficial technical effects of the robot control method as described in any of the technical solutions of the first aspect, which will not be elaborated further here.

[0080] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the robot control method as described in any of the technical solutions of the first aspect above. Therefore, it possesses all the beneficial technical effects of the robot control method in any of the technical solutions of the first aspect above, which will not be elaborated further here.

[0081] According to a fifth aspect of the present invention, a robot is provided, comprising: a robot control device as defined in the second or third aspect above, and / or a readable storage medium as defined in the fourth aspect above, thereby having all the beneficial technical effects of the robot control device as defined in the second or third aspect above, and / or the readable storage medium as defined in the fourth aspect above, which will not be elaborated further here.

[0082] In any of the above technical solutions, the robot also includes: a robotic arm, which is used to clamp a load, and the robotic arm also includes a spline structure and a lead screw structure.

[0083] Among them, the spline structure and the lead screw structure are ball screw splines, the spline structure is a spline structure, and the lead screw structure is a lead screw structure.

[0084] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0085] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0086] Figure 1 One of the schematic flowcharts of a robot control method provided in some embodiments of the present invention is shown;

[0087] Figure 2 A second schematic flowchart of a robot control method provided in some embodiments of the present invention is shown;

[0088] Figure 3 A schematic flowchart of a robot control method provided in some embodiments of the present invention is shown as the third one;

[0089] Figure 4 A fourth schematic flowchart of a robot control method provided in some embodiments of the present invention is shown;

[0090] Figure 5 Fifth of some embodiments of the robot control method provided in this invention is shown;

[0091] Figure 6 A schematic flowchart of a robot control method provided in some embodiments of the present invention is shown as 6;

[0092] Figure 7 A schematic flowchart of a robot control method provided in some embodiments of the present invention is shown as Flowchart 7;

[0093] Figure 8Eighth schematic flowchart of a robot control method provided in some embodiments of the present invention is shown;

[0094] Figure 9 A schematic diagram of the end effector provided in some embodiments of the present invention is shown;

[0095] Figure 10 The diagram shows a schematic representation of the robotic arm provided in some embodiments of the present invention;

[0096] Figure 11 A schematic diagram of the end effector and load is shown in some embodiments of the present invention;

[0097] Figure 12 Structural block diagrams of robot control devices provided in some embodiments of the present invention are shown;

[0098] Figure 13 The diagram shows a structural block diagram of a robot control device provided in some embodiments of the present invention;

[0099] Figure 14 A structural block diagram of a robot provided by some embodiments of the present invention is shown.

[0100] in, Figures 9 to 11 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0101] 900 end effector, 902 lead screw structure, 904 spline structure, 1500 load, 1600 robotic arm. Detailed Implementation

[0102] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, these embodiments and the features described herein can be combined with each other.

[0103] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0104] The following reference Figures 1 to 14 This invention describes robot control methods, apparatus, readable storage media, and robots according to some embodiments of the present invention.

[0105] According to one embodiment of this application, such as Figure 1As shown, a robot control method is proposed. The robot includes a robotic arm, which includes an end effector. The end effector includes a spline structure and a lead screw structure. The lead screw structure can extend and retract relative to the spline structure.

[0106] Robot control methods include:

[0107] Step 102: Determine the first acceleration and the second acceleration of the robotic arm based on the joint angles of the robotic arm;

[0108] Wherein, the first acceleration is the acceleration of the end effector, and the second acceleration is the acceleration of the center of mass of the load.

[0109] Step 104: Determine the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass;

[0110] The first mass is the mass of the protruding part of the lead screw structure relative to the spline structure, and the second mass is the mass of the load.

[0111] Step 106: Adjust the speed parameters of the robotic arm according to the bending moment.

[0112] like Figure 9 and Figure 10 As shown, the robot includes an end effector 900, which can be a ball screw spline. The ball screw spline includes a spline structure 904 and a screw structure 902. The mass of the portion of the screw structure 902 extending downward relative to the spline structure 904 is the first mass. The screw structure 902 can perform vertical extension and retraction relative to the spline structure 904, thereby driving the load 1500 to move. During the operation of the robotic arm 1600, it is necessary to constrain the bending moment at the spline structure 904 in the ball screw spline to prevent the spline structure 904 from being damaged by excessive bending moment. It should be noted that the figure shows only part of the structure of the robotic arm 1600.

[0113] It should be noted that the robot can control the telescopic movement of the lead screw structure 902 relative to the spline structure 904. The robot determines the initial mass of the downward extension of the lead screw structure 902 by reading the length by which the lead screw structure 902 extends downward from the spline structure 904. For example, the robot system stores a mapping table that corresponds one-to-one between the downward extension distance of the lead screw structure 902 and the mass of the extended portion. The robot determines the corresponding initial mass by reading the extension distance of the lead screw structure 902.

[0114] The robot control method provided in this application is applied to a robot, which includes a robotic arm for clamping a load. The robotic arm includes an end effector, which includes a spline structure and a lead screw structure for transmission.

[0115] In this embodiment, during the operation of the robot, the joint angles of the robotic arm are continuously detected. Based on the joint angles of the robotic arm, the acceleration of the end effector of the robotic arm and the second acceleration of the load center of mass can be calculated.

[0116] It should be noted that the embodiments of this application take a SCARA robot as an example for illustration. The robotic arm of the SCARA robot includes four joint axes, so the joint angles include the joint angles corresponding to the four joints.

[0117] For example, the first acceleration can be calculated using the following relationship:

[0118]

[0119] Among them, A 1x A represents the acceleration component of the end effector on the x-axis. 1y A represents the acceleration component of the end effector on the y-axis. 1z Let ω be the acceleration component of the end effector on the z-axis. 1z J is the angular acceleration of the end effector. flange (θ) is the Jacobian matrix of the end effector, where θ is the joint angle. These represent the joint velocities of robot joints 1 through 4. These are the joint accelerations of joints 1 to 4 of the SCARA robot.

[0120] For example, the second acceleration can be calculated using the following relationship:

[0121]

[0122] Among them, A 2x Let A be the acceleration component of the load's center of mass along the x-axis. 2y Let A be the acceleration component of the load's center of mass on the y-axis. 2z Let ω be the acceleration component of the load's center of mass along the z-axis. 2z J is the angular acceleration of the load's center of mass. payload (θ) is the Jacobian matrix of the load centroid, and θ is the joint angle. These represent the joint velocities of robot joints 1 through 4. These are the joint accelerations of joints 1 to 4 of the SCARA robot.

[0123] In this embodiment, the first mass is the mass of the portion of the lead screw structure extending downward relative to the spline structure. The second mass is the mass of the load gripped by the robotic arm. During the robot's movement, the lead screw structure moves synchronously with the load. Therefore, the bending moment at the spline structure can be determined based on the first mass, the second mass, the first acceleration, and the second acceleration. The speed parameters of the robotic arm are then adjusted based on this bending moment, thereby constraining the robotic arm's speed and preventing damage to the spline structure due to overspeeding.

[0124] It should be noted that when the load is non-eccentric, the first acceleration and the second acceleration are the same.

[0125] Specifically, based on the first mass and the first acceleration, the net external force acting on the lead screw structure relative to the extended portion of the spline structure during the robot's movement can be determined. Based on the second mass and the second acceleration, the net external force acting on the load portion can be determined. Based on the two net external forces obtained above and the corresponding lever arms, the bending moment corresponding to the spline structure can be determined.

[0126] In this embodiment, the joint angles of the robotic arm are continuously monitored during robot operation. Based on these joint angles, the bending moment at the spline structure during operation can be determined. The robot then adjusts the current speed parameters of the robotic arm according to this bending moment. This constrains the bending moment generated on the spline structure during robot movement, ensuring that the bending moment does not exceed the maximum allowable bending moment of the spline structure. This protects the spline structure from damage and extends the robot's lifespan.

[0127] like Figure 2 As shown, in any of the above embodiments, determining the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass includes:

[0128] Step 202: Determine the first resultant external force based on the first mass and the first acceleration. The first resultant external force is the resultant external force of the lead screw structure relative to the extended part of the spline structure.

[0129] Step 204: Determine the second net external force based on the second mass and the second acceleration. The second net external force is the net external force acting on the load.

[0130] Step 206: Obtain the first lever arm and the second lever arm;

[0131] Among them, the first lever arm is the lever arm of the protruding part of the lead screw structure relative to the spline structure in the lead screw structure, and the second lever arm is the lever arm of the load relative to the spline structure.

[0132] Step 208: Determine the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force.

[0133] In this embodiment, the first net external force is the net external force exerted on the protruding portion of the lead screw structure relative to the spline structure during the movement of the robotic arm. The second net external force is the net external force exerted on the load clamped by the robotic arm during the movement of the robotic arm.

[0134] In this embodiment, according to Newton's second law, the net external force acting on the robot during its motion can be calculated using its mass and acceleration. The first net external force and the second net external force are calculated based on the first mass, the first acceleration, the second mass, and the second acceleration, respectively.

[0135] For example, the first net external force can be calculated using the following relationship:

[0136]

[0137] Among them, F 1x F 1y F 1z Let A be the magnitude of the component of the first net external force F1 acting on the downwardly extending part of the lead screw structure in the xyz direction of the base coordinate system. 1x A 1y A 1z , where are the magnitudes of the acceleration components of the end effector in the xyz directions of the robot coordinate system, and m1 is the first mass.

[0138] For example, the second resultant external force can be calculated using the following relationship:

[0139]

[0140] Among them, F 2x F 2y F 2z A is the magnitude of the component of the second net external force F2 acting on the load in the xyz direction of the base coordinate system. 2x A 2y A 2z , respectively, represent the magnitudes of the acceleration components of the load in the xyz directions of the robot coordinate system, and m2 represents the first mass.

[0141] In this embodiment, the first lever arm is the lever arm of the portion of the lead screw structure extending relative to the spline structure, and the second lever arm is the lever arm of the load on the spline structure. The torque of the lead screw structure relative to the portion of the spline structure can be calculated based on the first lever arm and the first resultant external force. The torque of the load can be calculated based on the second lever arm and the second resultant external force. The bending torque experienced at the spline structure can be calculated based on the first torque and the second torque.

[0142] Specifically, the bending moment experienced by the spline structure includes the moment of the downward-extending part of the lead screw and the moment of the load part. Therefore, the bending moment experienced by the spline structure can be accurately calculated by using the first acceleration and first mass of the downward-extending part of the lead screw, and the second acceleration and second mass of the load part.

[0143] In the embodiments of this application, the bending moment of the spline structure is calculated based on the first resultant external force and the first torque of the lead screw structure relative to the extended part of the spline structure, and the second resultant external force and the second torque of the load part. This embodiment takes into account the influence of the resultant external force of the lead screw structure relative to the extended part of the spline structure and the resultant external force of the load part on the bending moment of the spline structure, thereby improving the accuracy of determining the bending moment of the spline structure.

[0144] like Figure 3 As shown, in any of the above embodiments, obtaining the first lever arm and the second lever arm includes:

[0145] Step 302: Determine the first lever arm based on the first distance, the first distance being related to the length of the protruding part of the lead screw structure relative to the spline structure;

[0146] Step 304: Determine the second lever arm based on the second distance and the third distance.

[0147] The second distance is the distance from the spline structure to the load, and the third distance is the distance from the load edge in the direction of gravity to the load's center of mass.

[0148] In this embodiment, the first distance can be half the length of the protruding portion of the lead screw structure relative to the spline structure. The first lever arm is the lever arm of the lead screw structure acting on the spline structure relative to the protruding portion of the spline structure, and therefore this lever arm is related to the first distance.

[0149] For example, the first lever arm vector is L1, and the lever arm length L in the z direction is... z The first lever arm is determined by the following formula, which is half the distance of the first distance:

[0150]

[0151] Where L1 is the first lever arm vector, L 1x Let L be the component of the first lever arm in the x-direction. 1y Let L be the component of the first lever arm in the y-direction. 1z -L is the component of the first lever arm in the z-direction. z Let be the length of the lever arm in the z-direction.

[0152] In this embodiment, the second distance is the distance from the spline structure to the load portion, i.e., the distance between the spline structure and the load. The third distance is the distance between the load edge in the z-direction and the load centroid. The second lever arm is the lever arm of the load portion, and therefore it is related to the distance from the spline structure to the load and the distance between the load edge in the z-direction and the load centroid. The second lever arm can be accurately calculated using the second and third distances.

[0153] like Figure 9 , Figure 10 and Figure 11 As shown, the end effector 900 in the robotic arm 1600 includes a spline structure 904 and a lead screw structure 902. When the robotic arm clamps a load, the second lever arm of the lead screw structure 902 is the distance L from the spline structure 904 to the load 1500. a The distance L between the edge of the load and the centroid in the z-direction b The sum of L a For the second distance, L b The third distance. The first lever arm is the lever arm of the portion of the lead screw structure 902 extending relative to the spline structure 904, that is, half the length L of the portion of the lead screw structure extending relative to the spline structure. c It is the first lever arm.

[0154] Wherein, when the load is a non-eccentric load, the lever arm length component L in the x-direction of the second lever arm is... 2x And the second lever arm's length component L in the y-direction. 2y All are 0.

[0155] For example, the second lever arm vector is L2, and the lever arm length L in the z direction is... z Given the sum of the second and third distances, and assuming a non-eccentric load, the second lever arm is determined using the following formula:

[0156]

[0157] Where L2 is the second lever arm vector, L 2x Let L be the component of the second lever arm in the x-direction. 2y Let L be the component of the second lever arm in the y-direction. 2z -L is the component of the second lever arm in the z-direction. z Let be the length of the lever arm in the z-direction.

[0158] It should be noted that the robot can collect posture information of the robotic arm during its operation through sensors, and determine the first distance, the second distance, and the third distance based on the collected posture information of the robotic arm.

[0159] In the embodiments of this application, a first lever arm is determined by half of a first distance associated with the extension of the lead screw structure relative to the spline structure, and a second lever arm is determined by the sum of a second distance and a third distance associated with the load. By calculating the first and second lever arms separately, the accuracy of determining the first and second lever arms can be improved, thereby ensuring the accuracy of subsequent control.

[0160] like Figure 4 As shown, in any of the above embodiments, the load is an eccentric load; determining the second lever arm based on the second distance and the third distance includes:

[0161] Step 402: Obtain the coordinate system angle, which is the angle between the load centroid coordinate system and the base coordinate system;

[0162] Step 404: Determine the second lever arm based on the coordinate system angle, the second distance, and the third distance.

[0163] In this embodiment, when the load is an eccentric load, the second lever arm vector has a lever arm length component L in the x-direction. 2x The value is not zero, and the second lever arm vector has a lever arm length component L in the y direction. 2y Since the value is not 0, the second lever arm is calculated based on the second distance, the third distance, and the angle between the load centroid coordinate system and the base coordinate system.

[0164] Specifically, the load is an eccentric load, and the eccentric distances of the second lever arm in the x and y directions are L and L, respectively. x With L y When the robot moves, the load center of mass coordinate system rotates and forms an angle of α with the base coordinate system. Therefore, the second lever arm can be calculated based on the second distance, the third distance and the coordinate system angle.

[0165] It should be noted that the robot can determine whether the load is eccentric based on the joint angles of each joint of the robotic arm. During robot operation, the robot continuously acquires the joint angles of each joint and determines whether the load is eccentric by comparing the joint angles with a preset joint angle range.

[0166] For example, the second lever arm vector is L2, and the load is an eccentric load. The second lever arm is determined by the following relationship:

[0167]

[0168]

[0169] Where α is the angle between the coordinate systems, L2 is the second lever arm vector, and L 2x Let L be the component of the second lever arm in the x-direction. 2yLet L be the component of the second lever arm in the y-direction. 2z Let L be the component of the second lever arm in the z-direction. x L is the length of the lever arm in the x-direction. y L is the length of the lever arm in the y-direction. z Let be the length of the lever arm in the z-direction.

[0170] In the embodiments of this application, when the load is an eccentric load, the load centroid coordinate system has an angle with the base coordinate system due to rotation. Therefore, the lever arm can be calculated based on the coordinate angle, the first distance, and the second distance, which improves the accuracy of calculating the second lever arm when the load is an eccentric load.

[0171] like Figure 5 As shown, in any of the above embodiments, determining the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force includes:

[0172] Step 502: Determine the first torque based on the first lever arm and the first resultant external force;

[0173] Step 504: Determine the second torque based on the second lever arm and the second resultant external force;

[0174] Step 506: Determine the bending moment based on the first torque and the second torque.

[0175] In this embodiment, the first torque is the torque brought about by the lead screw structure extending relative to the spline structure, and the second torque is the torque brought about by the load. The bending torque on the spline structure is calculated based on the first torque and the second torque.

[0176] Specifically, the first torque is obtained by multiplying the first resultant external force with the first lever arm, and the second torque is obtained by multiplying the second resultant external force with the second lever arm.

[0177] For example, the first torque can be calculated using the following relationship:

[0178]

[0179] Where T1 is the first torque, L 1x L is the length of the lever arm in the x-direction. 1y L is the length of the lever arm in the y-direction. 1z Let be the length of the lever arm in the z-direction. This is the first lever arm matrix. This is the first resultant external force matrix.

[0180] For example, the second torque can be calculated using the following relationship:

[0181]

[0182] Where T2 is the second torque, L 2x L is the length of the lever arm in the x-direction. 2y L is the length of the lever arm in the y-direction. 2z Let be the length of the lever arm in the z-direction. This is the second lever arm matrix. This is the second resultant external force matrix.

[0183] In this embodiment, the bending moment experienced by the spline structure includes the moment generated by the lead screw structure relative to the extended portion of the spline structure and the moment generated by the load. The total moment at the spline structure can be calculated based on the first and second moments, i.e., the total moment of the lead screw structure relative to the extended portion of the spline structure and the load on the spline structure. Once the total moment is calculated, the bending moment can be calculated based on the components of the total moment in the x and y directions.

[0184] For example, the total torque can be calculated using the following relationship:

[0185]

[0186] Where T is the total torque, T1 is the first torque, T2 is the second torque, and T... x T represents the component of the total torque in the x-direction. y Let T be the component of the total torque in the y-direction. z The component of the total torque in the z-direction.

[0187] For example, the bending moment can be calculated using the following relationship:

[0188]

[0189] Among them, T x T represents the component of the total torque in the x-direction. y T1 represents the component of the total torque in the y-direction, and T2 represents the bending torque.

[0190] In the embodiments of this application, based on the first resultant external force and the corresponding first lever arm, the first torque exerted by the lead screw structure relative to the extended portion of the spline structure can be calculated, and based on the second resultant external force and the corresponding second lever arm, the second torque exerted by the load can be calculated. The robot can determine the bending torque experienced by the spline structure during the movement of the robotic arm based on the first and second torques, facilitating subsequent constraint control of the speed parameters based on this bending torque.

[0191] like Figure 6 As shown, in any of the above embodiments, determining the first acceleration and second acceleration of the robotic arm based on the joint angle of the robotic arm includes:

[0192] Step 602: Determine the first Jacobian matrix and the second Jacobian matrix based on the joint angles of the robotic arm;

[0193] The first Jacobian matrix is ​​the Jacobian matrix of the end effector, and the second Jacobian matrix is ​​the Jacobian matrix of the load centroid.

[0194] Step 604: Determine the first acceleration based on the first Jacobian matrix, and determine the second acceleration based on the second Jacobian matrix.

[0195] In this embodiment, after detecting the joint angle of the robotic arm, a first Jacobian matrix and a second Jacobian matrix can be determined based on the joint angle of the robotic arm. A first acceleration and a second acceleration are then determined based on the first Jacobian matrix and the second Jacobian matrix.

[0196] Specifically, we obtain the first relationship between the robot's Cartesian velocity vector, the robot's Jacobian matrix, and the robot's joint velocity vector. Differentiating the first relationship yields the second relationship between acceleration, the Jacobian matrix, and joint angles. Substituting the first Jacobian matrix and joint angles into the second relationship allows us to calculate the first acceleration. Substituting the second Jacobian matrix and joint angles into the second relationship allows us to calculate the second acceleration.

[0197] For example, the first relation is as follows:

[0198]

[0199] Where V is the robot's Cartesian velocity vector, J(θ) is the robot's Jacobian matrix, and θ is the robot's joint angle.

[0200] For example, the second relation is as follows:

[0201]

[0202] Where A is the acceleration, J(θ) is the robot's Jacobian matrix, and θ is the robot's joint angle.

[0203] In the embodiments of this application, during the operation of the robotic arm, the robot continuously detects the joint angles of the robotic arm and determines the first Jacobian matrix of the end effector based on the joint angles, as well as the second Jacobian matrix of the load center of mass based on the joint angles. Through a second relationship, the first acceleration can be calculated based on the first Jacobian matrix and the first mass, and the second acceleration can be calculated based on the second Jacobian matrix and the second mass, thereby improving the accuracy of the first acceleration of the lead screw structure relative to the extended portion of the spline structure.

[0204] like Figure 7As shown, in any of the above embodiments, adjusting the speed parameters of the robotic arm based on the bending moment includes:

[0205] Step 702: Determine the constraint ratio based on the bending moment and the preset moment;

[0206] Step 704: Adjust the speed parameters of the robotic arm by constraining the ratio.

[0207] The speed parameters include at least one of the following: running speed and running acceleration.

[0208] In this embodiment, since a large bending moment in the spline structure can lead to damage to the spline structure, this embodiment continuously monitors the bending moment at the spline structure during the movement of the robotic arm, and determines the constraint ratio for constraining the speed parameters based on the bending moment and the preset moment. The speed parameters of the robotic arm are adjusted by the constraint ratio to prevent the bending moment at the spline structure from exceeding its maximum withstand torque.

[0209] It should be noted that the preset torque is related to the physical parameters of the spline structure. The maximum bending moment that the spline structure can withstand is determined through prior testing, and this maximum bending moment is determined as the preset torque.

[0210] In this embodiment, the speed parameters include running speed and / or running acceleration. After calculating the constraint ratio, the running speed and / or running acceleration are adjusted by the constraint ratio. This can prevent the bending moment at the spline structure from being higher than the preset moment for a long time during the operation of the robotic arm, thereby improving the service life of the robotic arm during operation.

[0211] Specifically, the constraint ratio is calculated based on the bending moment obtained from actual testing and the preset moment.

[0212] In the embodiments of this application, during the operation of the robotic arm driven by the robot, a constraint ratio is determined by comparing the bending moment at the spline structure detected with a preset moment. Based on the constraint ratio, the running speed and / or running acceleration of the robotic arm are adjusted, which can prevent the spline structure of the robotic arm from being subjected to a large bending moment during operation, thereby improving the service life of the robot as a whole.

[0213] In any of the above embodiments, determining the constraint ratio based on the bending moment and the preset moment includes: determining the ratio of the bending moment to the preset moment as the constraint ratio based on the fact that the load is a non-eccentric load.

[0214] In this embodiment, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is not eccentric, the ratio between the bending moment and the preset moment is used as the constraint ratio. Since the load is not eccentric, the influence of the gravity term moment of the load on the bending moment does not need to be considered when calculating the constraint ratio; therefore, the ratio of the bending moment to the preset moment is directly used as the constraint ratio.

[0215] Specifically, if the load is determined to be a non-eccentric load, it means that there is no gravity term torque in the bending moment that cannot be reduced. Therefore, the ratio between the bending moment and the preset moment can be used as the constraint ratio to adjust the speed parameter to ensure the accuracy of the adjustment.

[0216] For example, the constraint ratio can be calculated using the following relationship:

[0217] k = T / T max ;

[0218] Where k is the constraint ratio, T is the bending moment, and T max This is the preset torque.

[0219] In the embodiments of this application, when the load is a non-eccentric load, the detected bending moment does not include the gravity term moment of the load that cannot be reduced. The ratio of the bending moment to the preset moment can be calculated to obtain the constraint ratio, which ensures the accuracy of adjusting the speed parameters by the constraint ratio when the load is a non-eccentric load, and further improves the service life of the robot.

[0220] like Figure 8 As shown, in any of the above embodiments, determining the constraint ratio based on the bending moment and the preset moment includes:

[0221] Step 802: Based on the fact that the load is an eccentric load, obtain the gravitational torque of the load;

[0222] Step 804: Determine the constraint ratio based on the bending moment, gravity moment, and preset moment.

[0223] In this embodiment, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is eccentric, the detected bending moment includes the gravity term moment of the load that cannot be reduced. At this time, the constraint ratio needs to be calculated so that the calculated constraint ratio can constrain the bending moment of the spline structure.

[0224] Before obtaining the gravitational torque of the load, the process includes: determining that the load's acceleration in the z-direction is 0, meaning that no force is applied to the load in the z-direction during the movement of the load by the robotic arm. Therefore, the torque generated by the load on the spline structure in the z-direction is the load's gravitational torque. Specifically, if the load is an eccentric load and its acceleration in the z-direction is 0, it is determined that the detected bending moment includes the gravitational torque that cannot be reduced; therefore, the load's gravitational torque is obtained.

[0225] For example, the constraint ratio is calculated using the following relation:

[0226]

[0227] Where T is the bending moment, T0 is the gravitational moment, T1 is the constrained moment generated by the movement of the robotic arm, k1 is the constraint ratio, and k is the ratio between the bending moment and the preset moment. The constraint ratio k1 is calculated using the above relationship.

[0228] In the embodiments of this application, when the load is an eccentric load, the detected bending moment includes the gravity term moment of the load that cannot be reduced. The gravity term moment of the load is then obtained, and a constraint ratio is calculated based on the bending moment, the preset moment, and the gravity term moment. This ensures the accuracy of adjusting the speed parameters through the constraint ratio when the load is an eccentric load, and further improves the service life of the robot.

[0229] In any of the above embodiments, adjusting the speed parameters of the robotic arm by constraining the ratio includes:

[0230] If the robot arm's motion trajectory is a straight line, the robot arm's acceleration is reduced according to the constraint ratio; if the robot arm's motion trajectory is a circular arc, the robot arm's speed or acceleration is reduced according to the constraint ratio.

[0231] In this embodiment, before constraining the speed parameters of the robotic arm based on the constraint ratio, it is necessary to determine the motion trajectory of the robot driving the robotic arm, and adjust the speed parameters of the robotic arm accordingly based on different motion trajectories.

[0232] Specifically, when the robotic arm's motion trajectory is a straight line, the acceleration constraint of the Cartesian control's motion can be reduced proportionally.

[0233] For example, with a constraint ratio of k, if the movement trajectory of the robotic arm is a branch trajectory, then the acceleration of the robotic arm will be reduced by a factor of k.

[0234] Specifically, when the robotic arm's motion trajectory is a circular arc, the radius R of the current circular arc trajectory and the current Cartesian velocity V are taken, and the magnitude F of the first centripetal force generated at the current moment is calculated according to the centripetal force formula. cen Obtain the current Cartesian acceleration value A, and calculate the magnitude F of the third net external force at the current moment according to Newton's second law. total .

[0235] For example, the formula for centripetal force is as follows:

[0236]

[0237] Where F is the centripetal force, m is the mass, v is the velocity, and r is the radius.

[0238] If F total =F cen To restrict the velocity constraints in Cartesian space, the ratio is reduced to...

[0239] Calculate the target force F1 acting on the change in velocity.

[0240] F1 = F total -F cen ;

[0241] If F1≥F cen The acceleration constraint in Cartesian space is limited by a reduction ratio of k.

[0242] If F1 <F cen To restrict the velocity constraints in Cartesian space, the ratio is reduced to...

[0243] In this embodiment, based on the fact that the robotic arm's motion trajectory is an arc trajectory, the first centripetal force and the third resultant external force of the robotic arm are obtained. When the first centripetal force equals the third resultant external force, the operating speed of the robotic arm is reduced according to a constraint ratio. When the third resultant external force is not equal to the first centripetal force, a target force for changing the speed is calculated. When the target force is greater than or equal to the first centripetal force, the operating acceleration of the robotic arm is reduced according to a constraint ratio. When the target force is less than the first centripetal force, the operating speed of the robotic arm is reduced according to a constraint ratio.

[0244] In the embodiments of this application, when the movement trajectory of the robotic arm is a straight line, the running acceleration of the robotic arm is directly reduced by the constraint ratio. When the movement trajectory of the robotic arm is a curved trajectory, the running acceleration or running speed of the robotic arm is reduced by the constraint ratio, which can ensure that the spline structure will not be damaged due to excessive bending moment.

[0245] In any of the above embodiments, adjusting the speed parameters of the robotic arm by constraining the ratio includes:

[0246] Based on the motion trajectory of the robotic arm as the joint motion trajectory, the third acceleration of the target joint is obtained;

[0247] Based on the fact that the third acceleration is zero, the operating speed of the robotic arm is reduced according to the constraint ratio;

[0248] Based on the fact that the third acceleration is not equal to zero, the operating acceleration of the robotic arm is reduced according to the constraint ratio.

[0249] The third acceleration refers to the acceleration of the target joint in the robot, which can be collected by sensors during robot operation. For example, if the robot is a SCARA robot, the third acceleration includes the acceleration of the first joint axis. Acceleration of the second joint axis Acceleration of the third joint axis acceleration of the fourth joint axis

[0250] In this embodiment, when the movement trajectory of the robotic arm is a joint movement trajectory, it is necessary to obtain the third acceleration, and based on whether the third acceleration is equal to zero, select to reduce the running speed or running acceleration of the robotic arm by a constraint ratio.

[0251] For example, the constraint ratio is k.

[0252] Condition 1: The load is a non-eccentric load and If both are 0, then the velocity constraint in the joint space is limited, and the ratio is reduced to 0.

[0253] Condition 2: The load is an eccentric load and If both are 0, then the velocity constraint in the joint space is limited, and the ratio is reduced to 0.

[0254] If conditions 1 and 2 above are not met, then the joint space acceleration constraint is restricted and reduced by a ratio of k.

[0255] In the embodiments of this application, when the movement trajectory of the robotic arm is a joint movement trajectory, the third acceleration of the target joint axis in the robotic arm is obtained, and the running speed or running acceleration of the robotic arm is constrained by the constraint ratio based on the third acceleration, so as to ensure that the spline structure will not be damaged due to excessive bending moment.

[0256] In one embodiment according to this application, such as Figure 12As shown, a robot control device 1200 is proposed. The robot includes a robotic arm, which includes an end effector. The end effector includes a spline structure and a lead screw structure, and the lead screw structure is capable of telescoping relative to the spline structure.

[0257] The robot control device includes:

[0258] The determining module 1202 is used to determine the first acceleration and the second acceleration of the robotic arm based on the joint angle of the robotic arm. The first acceleration is the acceleration of the end effector, and the second acceleration is the acceleration of the center of mass of the load.

[0259] The determining module 1202 is used to determine the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass. The first mass is the mass of the protruding part of the screw structure relative to the spline structure, and the second mass is the mass of the load.

[0260] Adjustment module 1204 is used to adjust the speed parameters of the robotic arm according to the bending moment.

[0261] In this embodiment, the joint angles of the robotic arm are continuously monitored during robot operation. Based on these joint angles, the bending moment at the spline structure during operation can be determined. The robot then adjusts the current speed parameters of the robotic arm according to this bending moment. This constrains the bending moment generated on the spline structure during robot movement, ensuring that the bending moment does not exceed the maximum allowable bending moment of the spline structure. This protects the spline structure from damage and extends the robot's lifespan.

[0262] In any of the above embodiments, the determining module 1202 is used to determine the first resultant external force based on the first mass and the first acceleration, wherein the first resultant external force is the resultant external force of the lead screw structure relative to the extended portion of the spline structure;

[0263] The determining module 1202 is used to determine the second resultant external force based on the second mass and the second acceleration, wherein the second resultant external force is the resultant external force acting on the load;

[0264] The acquisition module is used to acquire the first lever arm and the second lever arm. The first lever arm is the lever arm of the protruding part of the lead screw structure relative to the spline structure in the lead screw structure, and the second lever arm is the lever arm of the load relative to the spline structure.

[0265] The determination module 1202 is used to determine the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force.

[0266] In this embodiment, the first net external force is the net external force exerted on the protruding portion of the lead screw structure relative to the spline structure during the movement of the robotic arm. The second net external force is the net external force exerted on the load clamped by the robotic arm during the movement of the robotic arm.

[0267] In the embodiments of this application, the bending moment of the spline structure is calculated based on the first resultant external force and the first torque of the lead screw structure relative to the extended part of the spline structure, and the second resultant external force and the second torque of the load part. This embodiment takes into account the influence of the resultant external force of the lead screw structure relative to the extended part of the spline structure and the resultant external force of the load part on the bending moment of the spline structure, thereby improving the accuracy of determining the bending moment of the spline structure.

[0268] In any of the above embodiments, the determining module 1202 is used to determine the first lever arm based on the first distance, wherein the first distance is the distance from the spline structure to the target part in the lead screw structure;

[0269] The determining module 1202 is used to determine the second lever arm based on the second distance and the third distance, where the second distance is the distance from the spline structure to the load, and the third distance is the distance from the load edge in the direction of gravity to the load center of mass.

[0270] In this embodiment, the first distance can be half the length of the protruding portion of the lead screw structure relative to the spline structure. The first lever arm is the lever arm of the lead screw structure acting on the spline structure relative to the protruding portion of the spline structure, and therefore this lever arm is related to the first distance.

[0271] In the embodiments of this application, a first lever arm is determined by half of a first distance associated with the extension of the lead screw structure relative to the spline structure, and a second lever arm is determined by the sum of a second distance and a third distance associated with the load. By calculating the first and second lever arms separately, the accuracy of determining the first and second lever arms can be improved, thereby ensuring the accuracy of subsequent control.

[0272] In any of the above embodiments, the acquisition module is further configured to acquire the coordinate system angle, wherein the coordinate system angle is the angle between the load centroid coordinate system and the base coordinate system;

[0273] The determination module 1202 is used to determine the second lever arm based on the coordinate system angle, the second distance, and the third distance.

[0274] In the embodiments of this application, when the load is an eccentric load, the load centroid coordinate system has an angle with the base coordinate system due to rotation. Therefore, the lever arm can be calculated based on the coordinate angle, the first distance, and the second distance, which improves the accuracy of calculating the second lever arm when the load is an eccentric load.

[0275] In any of the above embodiments, the determining module 1202 is used to determine the first torque based on the first lever arm and the first resultant external force;

[0276] The determining module 1202 is used to determine the second torque based on the second lever arm and the second resultant external force;

[0277] The determination module 1202 is used to determine the bending moment based on the first torque and the second torque.

[0278] In this embodiment, the first torque is the torque brought about by the lead screw structure extending relative to the spline structure, and the second torque is the torque brought about by the load. The bending torque on the spline structure is calculated based on the first torque and the second torque.

[0279] In the embodiments of this application, based on the first resultant external force and the corresponding first lever arm, the first torque exerted by the lead screw structure relative to the extended portion of the spline structure can be calculated, and based on the second resultant external force and the corresponding second lever arm, the second torque exerted by the load can be calculated. The robot can determine the bending torque experienced by the spline structure during the movement of the robotic arm based on the first and second torques, facilitating subsequent constraint control of the speed parameters based on this bending torque.

[0280] In any of the above embodiments, the determining module 1202 is used to determine the first Jacobian matrix and the second Jacobian matrix based on the joint angles of the robotic arm;

[0281] The first Jacobian matrix is ​​the Jacobian matrix of the end effector, and the second Jacobian matrix is ​​the Jacobian matrix of the load centroid.

[0282] The determination module 1202 is used to determine a first acceleration based on a first Jacobian matrix and a second acceleration based on a second Jacobian matrix.

[0283] In this embodiment, during the operation of the robotic arm, the robot continuously detects the joint angles of the robotic arm and determines the first Jacobian matrix of the end effector based on the joint angles, as well as the second Jacobian matrix of the load center of mass based on the joint angles. Through a second relationship, the first acceleration can be calculated based on the first Jacobian matrix and the first mass, and the second acceleration can be calculated based on the second Jacobian matrix and the second mass, thus improving the accuracy of the first acceleration of the lead screw structure relative to the extended portion of the spline structure.

[0284] In any of the above embodiments, the determining module 1202 is used to determine the constraint ratio based on the bending moment and the preset moment;

[0285] The adjustment module 1204 is used to adjust the speed parameters of the robotic arm by constraining the ratio.

[0286] The speed parameters include at least one of the following: running speed and running acceleration.

[0287] In this embodiment, since a large bending moment in the spline structure can lead to damage to the spline structure, this embodiment continuously monitors the bending moment at the spline structure during the movement of the robotic arm, and determines the constraint ratio for constraining the speed parameters based on the bending moment and the preset moment. The speed parameters of the robotic arm are adjusted by the constraint ratio to prevent the bending moment at the spline structure from exceeding its maximum withstand torque.

[0288] In the embodiments of this application, during the operation of the robotic arm driven by the robot, a constraint ratio is determined by comparing the bending moment at the spline structure detected with a preset moment. Based on the constraint ratio, the running speed and / or running acceleration of the robotic arm are adjusted, which can prevent the spline structure of the robotic arm from being subjected to a large bending moment during operation, thereby improving the service life of the robot as a whole.

[0289] In any of the above embodiments, the determining module 1202 is used to determine the ratio of bending moment to preset moment as a constraint ratio based on the fact that the load is a non-eccentric load.

[0290] In this embodiment, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is not eccentric, the ratio between the bending moment and the preset moment is used as the constraint ratio. Since the load is not eccentric, the influence of the gravity term moment of the load on the bending moment does not need to be considered when calculating the constraint ratio; therefore, the ratio of the bending moment to the preset moment is directly used as the constraint ratio.

[0291] In the embodiments of this application, when the load is a non-eccentric load, the detected bending moment does not include the gravity term moment of the load that cannot be reduced. The ratio of the bending moment to the preset moment can be calculated to obtain the constraint ratio, which ensures the accuracy of adjusting the speed parameters by the constraint ratio when the load is a non-eccentric load, and further improves the service life of the robot.

[0292] In any of the above embodiments, the acquisition module is used to acquire the gravitational torque of the load based on the fact that the load is an eccentric load;

[0293] The determination module 1202 is used to determine the constraint ratio based on the bending moment, the gravity moment, and the preset moment.

[0294] In this embodiment, before determining the constraint ratio based on the bending moment and the preset moment, it is necessary to determine whether the load is an eccentric load. If the load is eccentric, the detected bending moment includes the gravity term moment of the load that cannot be reduced. At this time, the constraint ratio needs to be calculated so that the calculated constraint ratio can constrain the bending moment of the spline structure.

[0295] In the embodiments of this application, when the load is an eccentric load, the detected bending moment includes the gravity term moment of the load that cannot be reduced. The gravity term moment of the load is then obtained, and a constraint ratio is calculated based on the bending moment, the preset moment, and the gravity term moment. This ensures the accuracy of adjusting the speed parameters through the constraint ratio when the load is an eccentric load, and further improves the service life of the robot.

[0296] In any of the above embodiments, the adjustment module 1204 is used to reduce the running acceleration of the robotic arm according to the constraint ratio based on the fact that the movement trajectory of the robotic arm is a straight line trajectory.

[0297] The adjustment module 1204 is used to reduce the running speed or running acceleration of the robotic arm according to the constraint ratio, based on the fact that the movement trajectory of the robotic arm is an arc trajectory.

[0298] In this embodiment, before constraining the speed parameters of the robotic arm based on the constraint ratio, it is necessary to determine the motion trajectory of the robot driving the robotic arm, and adjust the speed parameters of the robotic arm accordingly based on different motion trajectories.

[0299] In this embodiment, based on the fact that the robotic arm's motion trajectory is an arc trajectory, the first centripetal force and the third resultant external force of the robotic arm are obtained. When the first centripetal force equals the third resultant external force, the operating speed of the robotic arm is reduced according to a constraint ratio. When the third resultant external force is not equal to the first centripetal force, a target force for changing the speed is calculated. When the target force is greater than or equal to the first centripetal force, the operating acceleration of the robotic arm is reduced according to a constraint ratio. When the target force is less than the first centripetal force, the operating speed of the robotic arm is reduced according to a constraint ratio.

[0300] In the embodiments of this application, when the movement trajectory of the robotic arm is a straight line, the running acceleration of the robotic arm is directly reduced by the constraint ratio. When the movement trajectory of the robotic arm is a curved trajectory, the running acceleration or running speed of the robotic arm is reduced by the constraint ratio, which can ensure that the spline structure will not be damaged due to excessive bending moment.

[0301] In any of the above embodiments, the acquisition module is used to acquire the third acceleration of the target joint based on the motion trajectory of the robotic arm being the joint motion trajectory;

[0302] Adjustment module 1204 is used to reduce the operating speed of the robotic arm according to the constraint ratio based on the fact that the third acceleration is zero;

[0303] The adjustment module 1204 is used to reduce the running acceleration of the robotic arm according to the constraint ratio based on the fact that the third acceleration is not equal to zero.

[0304] The third acceleration is the acceleration of the target joint in the robot, which can be collected by sensors during the operation of the robot.

[0305] In the embodiments of this application, when the movement trajectory of the robotic arm is a joint movement trajectory, the third acceleration of the target joint axis in the robotic arm is obtained, and the running speed or running acceleration of the robotic arm is constrained by the constraint ratio based on the third acceleration, so as to ensure that the spline structure will not be damaged due to excessive bending moment.

[0306] In one embodiment according to this application, such as Figure 13 As shown, a robot control device 1300 is proposed, including: a processor 1302 and a memory 1304, wherein the memory 1304 stores a program or instructions; the processor 1302 executes the program or instructions stored in the memory 1304 to implement the steps of the robot control method as in any of the above embodiments, and thus has all the beneficial technical effects of the robot control method in any of the above technical solutions, which will not be elaborated further here.

[0307] In one embodiment of this application, a readable storage medium is provided, on which a program or instructions are stored. When executed by a processor, the program or instructions implement the steps of the robot control method as described in any of the above embodiments. Therefore, it possesses all the beneficial technical effects of the robot control method in any of the above embodiments, which will not be elaborated further here.

[0308] In one embodiment according to this application, such as Figure 14 As shown, a robot 1400 is proposed, including: a robot control device 1300 as in any of the above embodiments, and / or a readable storage medium 1402 as defined in any of the above embodiments, and thus has all the beneficial technical effects of the robot control device 1300 and / or the readable storage medium 1402 as defined in any of the above embodiments, which will not be elaborated further here.

[0309] In any of the above embodiments, the robot further includes: a robotic arm for clamping a load, and the robotic arm further includes an end effector, which includes a spline structure and a lead screw structure.

[0310] The end effector is a ball screw spline, the spline structure is a spline structure, and the screw structure is a screw structure.

[0311] It should be clarified that in the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances of the above data.

[0312] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0313] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot control method, characterized in that, The robot includes a robotic arm, which includes an end effector for clamping a load. The end effector includes a spline structure and a lead screw structure, and the lead screw structure is telescopic relative to the spline structure. The robot control method includes: Based on the joint angle of the robotic arm, a first acceleration and a second acceleration of the robotic arm are determined, wherein the first acceleration is the acceleration of the end effector and the second acceleration is the acceleration of the center of mass of the load; The bending moment at the spline structure is determined based on the first acceleration, the second acceleration, the first mass, and the second mass. The first mass is the mass of the protruding part of the lead screw structure relative to the spline structure, and the second mass is the mass of the load. The speed parameters of the robotic arm are adjusted according to the bending moment; The robot's system stores a mapping table that corresponds one-to-one between the downward extension distance of the lead screw structure and the mass of the extended portion. By reading the extension distance of the lead screw structure, the corresponding first mass is determined. The step of determining the first acceleration and the second acceleration of the robotic arm based on the joint angle of the robotic arm includes: The first Jacobian matrix and the second Jacobian matrix are determined based on the joint angles of the robotic arm. The first Jacobian matrix is ​​the Jacobian matrix of the end of the robotic arm, and the second Jacobian matrix is ​​the Jacobian matrix of the load centroid. The first acceleration is determined based on the first Jacobian matrix; and The second acceleration is determined based on the second Jacobian matrix.

2. The robot control method according to claim 1, characterized in that, Determining the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass includes: Based on the first mass and the first acceleration, a first net external force is determined, wherein the first net external force is the net external force of the lead screw structure relative to the extended portion of the spline structure; Based on the second mass and the second acceleration, a second net external force is determined, which is the net external force acting on the load. Obtain a first lever arm and a second lever arm, wherein the first lever arm is the lever arm of the protruding part of the lead screw structure relative to the spline structure relative to the spline structure, and the second lever arm is the lever arm of the load relative to the spline structure; The bending moment is determined based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force.

3. The robot control method according to claim 2, characterized in that, The acquisition of the first lever arm and the second lever arm includes: The first lever arm is determined based on the first distance, which is related to the length of the lead screw structure protruding relative to the spline structure. The second lever arm is determined based on the second distance and the third distance, where the second distance is the distance from the spline structure to the load, and the third distance is the distance from the load edge in the direction of gravity to the load center of mass.

4. The robot control method according to claim 3, characterized in that, The load is an eccentric load; Determining the second lever arm based on the second distance and the third distance includes: Obtain the coordinate system angle, which is the angle between the load centroid coordinate system and the base coordinate system; The second lever arm is determined based on the included angle of the coordinate system, the second distance, and the third distance.

5. The robot control method according to any one of claims 2 to 4, characterized in that, The step of determining the bending moment based on the first lever arm, the second lever arm, the first resultant external force, and the second resultant external force includes: The first torque is determined based on the first lever arm and the first resultant external force; The second torque is determined based on the second lever arm and the second resultant external force; The bending moment is determined based on the first torque and the second torque.

6. The robot control method according to any one of claims 1 to 3, characterized in that, The step of adjusting the speed parameters of the robotic arm according to the bending moment includes: The constraint ratio is determined based on the bending moment and the preset moment; The speed parameters of the robotic arm are adjusted by the constraint ratio; The speed parameters include at least one of the following: running speed and running acceleration.

7. The robot control method according to claim 6, characterized in that, The step of determining the constraint ratio based on the bending moment and the preset moment includes: Since the load is a non-eccentric load, the ratio of the bending moment to the preset moment is determined as the constraint ratio.

8. The robot control method according to claim 6, characterized in that, The step of determining the constraint ratio based on the bending moment and the preset moment includes: Based on the fact that the load is an eccentric load, the gravitational torque of the load is obtained; The constraint ratio is determined based on the bending moment, the gravity term moment, and the preset moment.

9. The robot control method according to claim 6, characterized in that, Adjusting the speed parameters of the robotic arm through the constraint ratio includes: Based on the fact that the movement trajectory of the robotic arm is a straight line, the running acceleration of the robotic arm is reduced according to the constraint ratio; Based on the fact that the movement trajectory of the robotic arm is an arc trajectory, the operating speed or acceleration of the robotic arm is reduced according to the constraint ratio.

10. The robot control method according to claim 6, characterized in that, Adjusting the speed parameters of the robotic arm through the constraint ratio includes: Based on the fact that the motion trajectory of the robotic arm is a joint motion trajectory, the third acceleration of the target joint is obtained; Based on the fact that the third acceleration is zero, the operating speed of the robotic arm is reduced according to the constraint ratio; Based on the fact that the third acceleration is not equal to zero, the operating acceleration of the robotic arm is reduced according to the constraint ratio.

11. A robot control device, characterized in that, The robot includes a robotic arm, which includes an end effector for clamping a load. The end effector includes a spline structure and a lead screw structure, wherein the lead screw structure is telescopic relative to the spline structure. The robot control device includes: The determining module is used to determine a first acceleration and a second acceleration of the robotic arm based on the joint angle of the robotic arm, wherein the first acceleration is the acceleration of the end effector and the second acceleration is the acceleration of the center of mass of the load. The determining module is used to determine the bending moment at the spline structure based on the first acceleration, the second acceleration, the first mass, and the second mass, wherein the first mass is the mass of the lead screw structure protruding relative to the spline structure, and the second mass is the mass of the load. An adjustment module is used to adjust the speed parameters of the robotic arm according to the bending moment; The robot's system stores a mapping table that corresponds one-to-one between the downward extension distance of the lead screw structure and the mass of the extended portion. By reading the extension distance of the lead screw structure, the corresponding first mass is determined. The determining module is used to determine the first Jacobian matrix and the second Jacobian matrix based on the joint angles of the robotic arm; Wherein, the first Jacobian matrix is ​​the Jacobian matrix of the end of the robotic arm, and the second Jacobian matrix is ​​the Jacobian matrix of the load centroid; The determining module is configured to determine the first acceleration based on the first Jacobian matrix; and The second acceleration is determined based on the second Jacobian matrix.

12. A robot control device, characterized in that, include: A memory that stores programs or instructions; A processor for implementing the steps of the robot control method as described in any one of claims 1 to 10 when executing the program or instructions.

13. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the robot control method as described in any one of claims 1 to 10.

14. A robot, characterized in that, include: The robot control device as described in claim 11 or 12; or The readable storage medium as described in claim 13.

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