Output force optimization method and system for a quadruped single-arm operating robot

Abstract

The present invention discloses an output force optimization method and system for a quadruped single-arm working robot, and relates to the field of quadruped robot control technology. The method comprises the following steps: establishing a kinematic model of the robot's working arm relative to the trunk coordinate system and a simplified kinematic model including the robot's trunk and working arm; obtaining a relationship between the end of the working arm and the state variables; determining the real-time degree of freedom constraint conditions of the quadruped single-arm working robot, and determining the adjustment parameters of the weight matrix according to the real-time degree of freedom constraint conditions; defining a zero-space task, and optimizing the directional working performance of the force working performance parameters using the zero-space task; combining the adjustment parameters of the weight matrix and the optimized force working performance parameters with an optimization solution method to solve the relationship between the end of the working arm and the state variables, and obtaining the final motion generation result. The present invention can achieve greater force output under other constraints such as existing joint output torque.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robot control, and in particular to an output force optimization method and system for a quadruped single-arm working robot. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] A quadruped single-arm robot can use its working arm to complete tasks such as grasping and carrying objects, and can also use its quadruped body to complete movement tasks such as climbing slopes, crossing steps, and traversing rough terrain. Therefore, it has a very broad application prospect. However, how to fully and effectively utilize the super-redundant degrees of freedom of a quadruped single-arm robot to complete high-quality work tasks and improve work results remains a difficult problem. For example, when the work object exceeds the current workspace of the working arm, the problem of motion distribution between the robot torso and the working arm needs to be solved. When the task is to lift a relatively large object, it is necessary to adjust the joint angle internally to the most reasonable configuration and comprehensively utilize the torso movement coordination to complete the grasping and carrying tasks. Otherwise, the task will fail due to exceeding the maximum joint torque range of the working arm.

[0004] Other methods for improving the operational performance of quadruped, single-arm robots include Boston Dynamics' hydraulic quadruped robot and robotic arm, which uses an offline trajectory planning method to generate the robot's optimal motion path. This trajectory is then tracked using an improved virtual model control algorithm, improving the robot's lifting and throwing capabilities. ETH's quadruped robot utilizes a multi-layer priority-solving control framework to control the robot. This framework expands the robot's operational space by adding trunk posture adjustment tasks and adjusting the priorities of other tasks, thereby improving operational performance. However, methods for enhancing the operational performance of domestic quadruped, single-arm robots, particularly those optimizing force output, have yet to be seen.

[0005] Patent document CN114954724A, published on August 30, 2022, describes a motion control method and system for a quadruped, single-arm working robot capable of fully executing the robot's desired motion control commands. However, this document only provides an overall motion control method for trajectory tracking, without providing a motion trajectory planning method or optimizing the robot's operating performance. Consequently, the robot's output force does not achieve optimal results.

[0006] The motion generation system for a quadruped, single-arm working robot must address the robot's motion generation and output force optimization issues. It must fully coordinate all degrees of freedom across the entire robot to complete the task and achieve the desired motion results. The issues addressed by the motion generation and output optimization system can be further categorized into kinematic modeling, task space and joint space conversion, weight adjustment, and force operation performance optimization. Due to the system's complexity, relatively few motion generation methods exist. Most quadruped, single-arm working robots focus on motion tracking control or trajectory planning for a specific part of the robot. Therefore, optimizing the output force during the motion generation process for quadruped, single-arm working robots has become a pressing issue in existing technologies. Summary of the Invention

[0007] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an output force optimization method and system for a quadruped single-arm working robot, establish a kinematic model of the robot, fully utilize the adjustment function of the weight matrix in the motion generation process, set two adjustment parameters, and complete the adaptive adjustment process of the adjustment parameters according to the real-time joint constraints of the torso and working arm. Subsequently, the force working performance parameters are optimized in the null space, so that the quadruped single-arm working robot can generate the optimal torso and working arm motion, so as to maximize the terminal output force.

[0008] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0009] A first aspect of the present invention provides an output force optimization method for a quadruped single-arm working robot, comprising the following steps:

[0010] Obtain the motion trajectory of the quadruped single-arm working robot, and calculate the expected motion speed and position of the working arm end based on the motion trajectory;

[0011] A kinematic model of the robot's working arm relative to the trunk coordinate system and a simplified kinematic model including the robot's trunk and working arm are established based on the end position of the working arm;

[0012] Using a simplified kinematic model, the relationship between the end of the working arm and the state variables is obtained according to the expected motion speed of the end of the working arm;

[0013] Determine the real-time degree of freedom constraint conditions of the quadruped single-arm working robot, and determine the adjustment parameters of the weight matrix according to the real-time degree of freedom constraint conditions;

[0014] A zero-space task is defined, and the directional operation performance of the force operation performance parameters is optimized using the zero-space task to obtain the optimized force operation performance parameters;

[0015] Combining the adjustment parameters of the weight matrix and the optimization force operation performance parameters, the optimization solution method is used to solve the relationship between the end of the working arm and the state variables to obtain the final motion generation result.

[0016] Furthermore, the specific steps of establishing the kinematic model of the robot working arm relative to the torso coordinate system and the simplified kinematic model including the robot torso and working arm according to the end position of the working arm are as follows:

[0017] Establish the world coordinate system, torso coordinate system and work point coordinate system;

[0018] The kinematic model of the robot working arm relative to the torso coordinate system is established based on the spatial position of the end of the working arm in the torso coordinate system and the forward kinematics of the working arm;

[0019] According to the spatial position of the end of the working arm in the world coordinate system and the forward kinematics of the robot, a simplified kinematic model including the robot torso and the working arm is established using the transformation relationship between the coordinate systems.

[0020] Furthermore, the world coordinate system is fixed to a specified point on the ground, with the Z axis pointing vertically upward and parallel to the direction of gravity, the X axis pointing directly in front of the robot's head, and the Y axis perpendicular to the plane formed by XZ, pointing to the left of the robot; the torso coordinate system is fixed to the robot's torso, with the origin located at the center of mass of the robot's torso, the Z axis perpendicular to the torso pointing upward, the X axis pointing directly in front of the robot's head, and the Y axis perpendicular to the plane formed by XZ, pointing to the left of the robot; the work point coordinate system is fixed to the gripper at the end of the robotic arm, with the origin located at the geometric center of the gripper, the Z axis parallel to the rotation axis of the end joint, pointing outward from the robotic arm, and the X and Y axes parallel to the coordinate axes of the end joint.

[0021] Furthermore, the relationship between the end of the working arm and the state variables is:

[0022]

[0023]

[0024] in, is the velocity of the state variable, is the desired motion speed of the end of the working arm is the Jacobian matrix of the robot, is the weighted pseudo-inverse of the Jacobian matrix, W x is the adjustment weight matrix, is the robot's null space, is the velocity vector in null space.

[0025] Furthermore, the given value of the zero space velocity vector is set to zero, and the diagonal elements of the weight matrix are initialized to 1 to obtain the initial joint motion velocity result.

[0026] Furthermore, according to the current joint angles of the quadruped single-arm working robot, the position and posture data of the trunk in the world coordinate system, and the initial joint speed, the real-time restriction conditions of the degrees of freedom corresponding to the speed part of the robot's state variables are determined.

[0027] Furthermore, the formula for the force operation performance parameter is:

[0028]

[0029] Among them, H2(q m ) is the force operation performance parameter, u is the direction of the force to be optimized, W r is the scale factor of the joint in the joint space, W r It is related to the maximum output torque of the joint. is the Jacobian matrix of the arm.

[0030] A second aspect of the present invention provides an output force optimization system for a quadruped single-arm working robot, comprising:

[0031] A data acquisition module is configured to obtain a motion trajectory of the quadruped single-arm working robot and calculate an expected motion speed and position of the end of the working arm according to the motion trajectory;

[0032] A kinematic model building module is configured to build a kinematic model of the robot working arm relative to the torso coordinate system and a simplified kinematic model including the robot torso and the working arm according to the position of the end of the working arm;

[0033] A variable relationship calculation module is configured to use a simplified kinematic model to obtain a relationship between the end of the working arm and the state variables according to the expected movement speed of the end of the working arm;

[0034] A weight adjustment module is configured to determine real-time constraints on the degrees of freedom of the quadruped single-arm working robot and determine adjustment parameters of the weight matrix according to the real-time constraints on the degrees of freedom;

[0035] an optimization parameter calculation module configured to define a zero-space task, optimize the directional operation performance of the force operation performance parameter using the zero-space task, and obtain the optimized force operation performance parameter;

[0036] The motion result generation module is configured to combine the adjustment parameters of the weight matrix and the optimization force operation performance parameters to use the optimization solution method to solve the relationship between the end of the working arm and the state variables to obtain the final motion generation result.

[0037] A third aspect of the present invention provides a medium having a program stored thereon, which, when executed by a processor, implements the steps of the output force optimization method of the quadruped single-arm working robot as described in the first aspect of the present invention.

[0038] The fourth aspect of the present invention provides a device comprising a memory, a processor, and a program stored in the memory and runnable on the processor. When the processor executes the program, the steps in the output force optimization method of the quadruped single-arm working robot as described in the first aspect of the present invention are implemented.

[0039] One or more of the above technical solutions have the following beneficial effects:

[0040] This invention discloses a method and system for optimizing the output force of a quadruped, single-arm working robot. This method enables greater force output within existing constraints, such as joint output torque, without the task failure caused by exceeding the maximum joint torque limit, as encountered in traditional direct pseudo-inverse methods. Using this method, the robot can lift heavier objects, push heavy objects, and enhance force in three rotational directions, significantly improving its operational performance and enabling it to complete more tasks without replacing joints with higher output torque.

[0041] The present invention establishes simplified kinematics for the robot and independent kinematics for the working arm, uses the IMU (Inertial Measurement Unit) and joint sensors installed on the robot body to estimate the robot's degree of freedom state, uses the real-time degree-of-freedom constraints of all degrees of freedom to adaptively adjust the weight matrix, and combines the optimization of force operation performance parameters in the null space to calculate the expected motion of the coordinated robot's torso and working arm, thereby realizing the robot's output force optimization function.

[0042] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0044] Figure 1 This is a flow chart of the output force optimization method of the quadruped single-arm working robot in the present invention;

[0045] Figure 2 Schematic diagram illustrating the coordinate system of the present invention. DETAILED DESCRIPTION

[0046] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations;

[0048] Example 1:

[0049] The first embodiment of the present invention provides an output force optimization method for a quadruped single-arm working robot, such as Figure 1 As shown, the following steps are included:

[0050] Step 1: Obtain the motion trajectory of the quadruped single-arm working robot, and calculate the expected motion speed and position of the working arm end according to the motion trajectory.

[0051] Step 2: Based on the end position of the working arm, a kinematic model of the robot working arm relative to the trunk coordinate system and a simplified kinematic model including the robot trunk and working arm are established.

[0052] Step 3: Use a simplified kinematic model to obtain the relationship between the end of the working arm and the state variables according to the expected movement speed of the end of the working arm.

[0053] Step 4: Determine the real-time degree of freedom constraint conditions of the quadruped single-arm working robot, and determine the adjustment parameters of the weight matrix according to the real-time degree of freedom constraint conditions.

[0054] Step 5: Define a zero-space task, and use the zero-space task to optimize the directional operation performance of the force operation performance parameters to obtain the optimized force operation performance parameters.

[0055] Step 6: Combine the adjustment parameters of the weight matrix and the optimization force operation performance parameters to use the optimization solution method to solve the relationship between the end of the working arm and the state variables to obtain the final motion generation result.

[0056] In step 1, the function expression of the end position changing with time can be known based on the motion trajectory. Using the function expression, the expected position can be obtained by substituting the time point. The expected motion speed can be obtained by differentiating the expression and substituting the time point.

[0057] In step 2, the specific steps for establishing the kinematic model of the robot working arm relative to the torso coordinate system and the simplified kinematic model including the robot torso and working arm are as follows:

[0058] 1) Establish world coordinate system∑ w , trunk coordinate system∑ b and the working point coordinate system ∑ e .

[0059] In a specific embodiment, Figure 2 As shown in the figure, the world coordinate system is fixed to a specified point on the ground, with the Z axis pointing vertically upward and parallel to the direction of gravity, the X axis pointing in front of the robot's head, and the Y axis perpendicular to the plane formed by XZ, pointing to the left of the robot; the torso coordinate system is fixed on the robot's torso, with the origin located at the center of mass of the robot's torso, the Z axis perpendicular to the torso pointing upward, the X axis pointing in front of the robot's head, and the Y axis perpendicular to the plane formed by XZ, pointing to the left of the robot; the work point coordinate system is fixed on the end gripper of the robotic arm, with the origin located at the geometric center of the gripper, the Z axis parallel to the rotation axis of the end joint, pointing outward from the robotic arm, and the X and Y axes parallel to the coordinate axes of the end joint.

[0060] 2) Based on the spatial position of the end of the working arm in the torso coordinate system and the forward kinematics of the working arm, a kinematic model of the robot working arm relative to the torso coordinate system is established.

[0061] In a specific embodiment, the degree of freedom state variables of the working arm are defined as The established kinematic formula of the working arm is described as:

[0062] x m =h m (q m ),

[0063] in, is the end of the working arm in the trunk coordinate system ∑ b The spatial position in h m (q m ) refers to the forward kinematics of the working arm.

[0064] 3) Based on the spatial position of the end of the working arm in the world coordinate system and the forward kinematics of the robot, a simplified kinematic model including the robot torso and the working arm is established using the transformation relationship between coordinate systems.

[0065] In one embodiment, the robot state variables including the degrees of freedom of the trunk and the working arms are defined as Refers to the six degrees of freedom of the torso, and the simplified kinematic formula established is described as:

[0066]

[0067] in, The end of the working arm is in the world coordinate system ∑ w The spatial position in h(q bw ) refers to the robot's forward kinematics, T e is the conversion relationship between the end position of the arm and the current position of the torso, T b w From the torso coordinate system ∑ b To the world coordinate system∑ w The transformation matrix.

[0068] In step 3, the desired motion speed of the end of the working arm is set to The motion velocity of the state variable can be given by the remote controller or calculated using the motion trajectory. The relationship between the end and the state variables is obtained by using the inverse optimization solution formula. The relationship between the end of the working arm and the state variables is:

[0069]

[0070]

[0071] in, is the velocity of the state variable, is the desired motion speed of the end of the working arm is the Jacobian matrix of the robot, is the weighted pseudo-inverse of the Jacobian matrix, W x is the adjustment weight matrix, is the robot's null space, is the velocity vector in the null space. Set the given value of the null space velocity vector to zero and assign the initial value of the diagonal elements of the weight matrix to 1 to obtain the initial joint motion velocity result.

[0072] In step 4, the real-time constraint conditions of the degree of freedom corresponding to the velocity part of the robot's state variable are determined based on the current joint angles, the position and posture data of the trunk in the world coordinate system, and the initial joint velocity of the quadruped single-arm working robot.

[0073] In a specific embodiment, the conditions of the torso and the working arm are described separately, and the expressions are:

[0074]

[0075]

[0076] in, and is the upper speed limit corresponding to the state variable, and is the corresponding lower limit.

[0077] According to the restriction conditions, find out whether any joint of all joints exceeds the restriction range in the current state, and use the parameter η b and η m To express it, the expression is:

[0078]

[0079]

[0080] Among them, i is the serial number of the state variable.

[0081] Given two judgment domain values, record them as ε b =0.15 and ε m =0.2, according to the relationship between η and ε, the adjustment coefficient γ is obtained b and γ m , the expression is as follows:

[0082]

[0083]

[0084] Use the adjustment factor γ b and γ m To determine the adjustment weight matrix W x , thereby determining the adjustment parameters of the weight matrix, the expression is as follows:

[0085]

[0086] In step 5, the formula for the force operation performance parameter is:

[0087]

[0088] Among them, H2(q m ) is the force operation performance parameter, u is the direction of the force to be optimized, W r is the scale factor of the joint in the joint space, W r It is related to the maximum output torque of the joint. is the Jacobian matrix of the arm.

[0089] The definition of the zero space task is to find the gradient descent value of each joint for the force performance parameter H2 This data is then used to calculate the speed adjustment in zero space, as shown below:

[0090]

[0091] Among them, kN is the adjustment coefficient, 0 6*1 refers to a column vector of dimension equal to 6.

[0092] In step 6, combined with the weight matrix adjusted in the previous step, the inverse optimization solution formula mentioned in step (2) is used to calculate the final motion generation result of the robot. Using the optimization method of this embodiment, the motion generation result obtained will maximize the value of the force operation performance parameter H2. When used on a robot (whether it is a simulation or an actual robot), it will be manifested as the end in the defined direction u. The output force will be greater than that of the existing method that does not use the optimization method in this embodiment, thereby achieving the output force optimization of the end.

[0093] Example 2:

[0094] A second embodiment of the present invention provides an output force optimization system for a quadruped single-arm working robot, comprising:

[0095] A data acquisition module is configured to obtain a motion trajectory of the quadruped single-arm working robot and calculate an expected motion speed and position of the end of the working arm according to the motion trajectory;

[0096] A kinematic model building module is configured to build a kinematic model of the robot working arm relative to the torso coordinate system and a simplified kinematic model including the robot torso and the working arm according to the position of the end of the working arm;

[0097] A variable relationship calculation module is configured to use a simplified kinematic model to obtain a relationship between the end of the working arm and the state variables according to the expected movement speed of the end of the working arm;

[0098] A weight adjustment module is configured to determine real-time constraints on the degrees of freedom of the quadruped single-arm working robot and determine adjustment parameters of the weight matrix according to the real-time constraints on the degrees of freedom;

[0099] an optimization parameter calculation module configured to define a zero-space task, optimize the directional operation performance of the force operation performance parameter using the zero-space task, and obtain the optimized force operation performance parameter;

[0100] The motion result generation module is configured to combine the adjustment parameters of the weight matrix and the optimization force operation performance parameters to use the optimization solution method to solve the relationship between the end of the working arm and the state variables to obtain the final motion generation result.

[0101] Example 3:

[0102] A third embodiment of the present invention provides a medium having a program stored thereon, which, when executed by a processor, implements the steps of the output force optimization method of the quadruped single-arm working robot as described in the first embodiment of the present invention.

[0103] Example 4:

[0104] Embodiment 4 of the present invention provides a device comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the output force optimization method of the quadruped single-arm working robot as described in Embodiment 1 of the present invention are implemented.

[0105] The steps involved in the devices of the above embodiments 2, 3 and 4 correspond to those of embodiment 1. For the specific implementation methods, please refer to the relevant description part of embodiment 1.

[0106] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computer device. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0107] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. A method for optimizing the output force of a quadruped single-arm working robot, characterized in that: The following steps are involved: Obtain the motion trajectory of the quadruped single-arm working robot, and calculate the expected motion speed and position of the working arm end based on the motion trajectory; According to the end position of the working arm, a kinematic model of the robot working arm relative to the torso coordinate system and a simplified kinematic model including the robot torso and working arm are established; Use a simplified kinematic model to obtain the relationship between the end of the working arm and the state variables according to the expected motion speed of the end of the working arm; Determine the real-time degree of freedom constraint conditions of the quadruped single-arm working robot, and determine the adjustment parameters of the weight matrix based on the real-time degree of freedom constraint conditions; A zero-space task is defined, and the directional operation performance of the force operation performance parameters is optimized using the zero-space task to obtain the optimized force operation performance parameters; Combining the adjustment parameters of the weight matrix and the optimization force operation performance parameters, the optimization solution method is used to solve the relationship between the end of the working arm and the state variables to obtain the final motion generation result; The adjustment parameters of the weight matrix are determined according to the real-time constraint conditions of the degrees of freedom. The conditional expressions of the trunk and the working arm are: ， in, and is the upper speed limit corresponding to the state variable, and is the corresponding lower limit; According to the restriction conditions, find out whether any joint of all joints exceeds the restriction range in the current state, and use the parameter and express: ， Among them, i is the serial number of the state variable; Given two judgment domain values, record them as and ,according to and The size relationship of and : ； Use the adjustment factor and To determine the adjustment weight matrix , determine the adjustment parameters of the weight matrix: ； The zero-space task is used to optimize the directional operation performance of the force operation performance parameter. The formula for the force operation performance parameter is: ， in, For the performance parameters of the force operation, is the direction of the force that needs to be optimized, is the scale factor of the joint in joint space, It is related to the maximum output torque of the joint. is the Jacobian matrix of the arm; Defining the zero space task as the force operation performance parameter Find the gradient descent value of each joint , use this data to find the speed adjustment in zero space: ， in, is the adjustment coefficient, is a column vector of dimension 6.

2. The method for optimizing the output force of a quadruped single-arm working robot according to claim 1, wherein: The specific steps for establishing the kinematic model of the robot's working arm relative to the torso coordinate system and the simplified kinematic model including the robot torso and working arm based on the end position of the working arm are as follows: Establish the world coordinate system, torso coordinate system and work point coordinate system; The kinematic model of the robot working arm relative to the torso coordinate system is established based on the spatial position of the end of the working arm in the torso coordinate system and the forward kinematics of the working arm; According to the spatial position of the end of the working arm in the world coordinate system and the forward kinematics of the robot, a simplified kinematic model including the robot torso and the working arm is established using the transformation relationship between the coordinate systems.

3. The method for optimizing the output force of a quadruped single-arm working robot according to claim 2, wherein: The world coordinate system is fixed to a specified point on the ground, with the Z axis pointing vertically upward and parallel to the direction of gravity. The X axis is directly in front of the robot's head, and the Y axis is perpendicular to the plane formed by the X and Z axes and points to the left of the robot. The torso coordinate system is fixed to the robot's torso, with the origin at the robot's torso center of mass. The Z axis is perpendicular to the torso and upward, the X axis is directly in front of the robot's head, and the Y axis is perpendicular to the plane formed by the X and Z axes and points to the left of the robot. The work point coordinate system is fixed on the gripper at the end of the robot arm, with the origin at the geometric center of the gripper. The Z axis is parallel to the rotation axis of the end joint and points outward from the robot arm. The X and Y axes are parallel to the coordinate axes of the end joint.

4. The method for optimizing the output force of a quadruped single-arm working robot according to claim 1, wherein: The relationship between the end of the working arm and the state variables is: ， in, is the velocity of the state variable, is the desired motion speed of the end of the working arm is the Jacobian matrix of the robot, is the weighted pseudo-inverse of the Jacobian matrix, is the adjustment weight matrix, is the robot's null space, is the velocity vector in null space.

5. The method for optimizing the output force of a quadruped single-arm working robot according to claim 4, wherein: The given value of the zero space velocity vector is set to zero, and the diagonal elements of the weight matrix are assigned an initial value of 1 to obtain the initial joint motion velocity result.

6. The method for optimizing the output force of a quadruped single-arm working robot according to claim 1, wherein: According to the current joint angles, trunk position and posture data in the world coordinate system, and initial joint velocities of the quadruped single-arm working robot, the real-time constraints of the degrees of freedom corresponding to the velocity part of the robot's state variables are determined.

7. An output force optimization system for a quadruped single-arm working robot, characterized in that: include: A data acquisition module is configured to obtain a motion trajectory of the quadruped single-arm working robot and calculate an expected motion speed and position of the end of the working arm according to the motion trajectory; A kinematic model building module is configured to establish a kinematic model of the robot working arm relative to the torso coordinate system and a simplified kinematic model including the robot torso and the working arm according to the position of the end of the working arm; A variable relationship calculation module is configured to use a simplified kinematic model to obtain a relationship between the end of the working arm and the state variable according to the expected movement speed of the end of the working arm; A weight adjustment module is configured to determine real-time constraints on the degrees of freedom of the quadruped single-arm working robot and determine adjustment parameters of the weight matrix according to the real-time constraints on the degrees of freedom; an optimization parameter calculation module configured to define a zero-space task, optimize the directional operation performance of the force operation performance parameter using the zero-space task, and obtain the optimized force operation performance parameter; The motion result generation module is configured to solve the relationship between the end of the working arm and the state variables using an optimization solution method in combination with the adjustment parameters of the weight matrix and the optimization force operation performance parameters to obtain the final motion generation result; The adjustment parameters of the weight matrix are determined according to the real-time constraint conditions of the degrees of freedom. The conditional expressions of the trunk and the working arm are: ， in, and is the upper speed limit corresponding to the state variable, and is the corresponding lower limit; According to the restriction conditions, find out whether any joint of all joints exceeds the restriction range in the current state, and use the parameter and express: ， Among them, i is the serial number of the state variable; Given two judgment domain values, record them as and ,according to and The size relationship of and : ； Use the adjustment factor and To determine the adjustment weight matrix , determine the adjustment parameters of the weight matrix: ； The zero-space task is used to optimize the directional operation performance of the force operation performance parameter. The formula for the force operation performance parameter is: ， in, For the performance parameters of the force operation, is the direction of the force that needs to be optimized, is the scale factor of the joint in joint space, It is related to the maximum output torque of the joint. is the Jacobian matrix of the arm; Defining the zero space task as the force operation performance parameter Find the gradient descent value of each joint , use this data to find the speed adjustment in zero space: ， in, is the adjustment coefficient, is a column vector of dimension 6.

8. A computer-readable storage medium, characterized in that A plurality of instructions are stored therein, and the instructions are suitable for being loaded by a processor of a terminal device and executing the output force optimization method of a quadruped single-arm working robot according to any one of claims 1-6.

9. A terminal device, characterized in that: It includes a processor and a computer-readable storage medium, the processor is used to implement each instruction; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executing the output force optimization method of the quadruped single-arm working robot according to any one of claims 1-6.

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