Method, device and computer equipment for determining jitter data of robot joints

Abstract

The present invention discloses a method, apparatus, and computer device for determining jitter data of a robot joint. The method comprises: obtaining the posture of a target joint of the robot at multiple moments using an inertial measurement unit; determining the motion parameters of the target joint at multiple moments based on the postures at the multiple moments; and determining the jitter data of the target joint based on the motion parameters at the multiple moments. This invention solves the technical problem of low accuracy in related art methods for measuring robot joint jitter data.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device and computer equipment for determining jitter data of a robot joint. Background Art

[0002] The development of the robotics industry has become an important indicator of a country's industrialization level. In recent years, my country's robotics industry has grown rapidly, with the emergence of numerous robot manufacturers offering a wide variety of robots with varying functions. Due to the presence of flexible components such as reducers, industrial robots are prone to jitter during positioning, either at the end or throughout the entire device, significantly reducing their performance. Therefore, accurate jitter measurement of industrial robots is essential, and solutions to eliminate this jitter must be developed based on the measurement results.

[0003] In the related art, the jitter state of the robot joint is generally determined by analyzing the joint current, but the current noise is relatively large, resulting in low accuracy of the measured robot joint jitter data.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] Embodiments of the present invention provide a method, apparatus, and computer device for determining jitter data of a robot joint, to at least solve the technical problem of low accuracy of methods for measuring jitter data of a robot joint in related technologies.

[0006] According to one aspect of an embodiment of the present invention, a method for determining the jitter data of a robot joint is provided, comprising: obtaining the postures of a target joint of the robot at multiple moments through an inertial measurement unit; determining the motion parameters of the target joint at multiple moments based on the postures at multiple moments; and determining the jitter data of the target joint based on the motion parameters at multiple moments.

[0007] Optionally, determining the jitter data of the target joint based on the motion parameters at multiple moments includes: performing Fourier transform on the motion parameters at multiple moments to generate a spectrum graph of the motion parameters at multiple moments; and determining the jitter data of the target joint based on the spectrum graph.

[0008] Optionally, it also includes: matching the spectrum graph with the fault spectrum graph to obtain a matching result; determining the working state of the target joint based on the matching result, wherein the working state includes a normal state and an abnormal state.

[0009] Optionally, based on the postures at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: based on the postures at multiple moments, determining the posture transformation of the target joint between adjacent moments, and obtaining the posture transformation at multiple moments, wherein the posture transformation at multiple moments respectively corresponds to the later moments in the adjacent moments; based on the posture transformation at multiple moments, determining the motion parameters of the target joint at multiple moments, wherein the motion parameters at multiple moments correspond to the later moments in the adjacent moments.

[0010] Optionally, based on the postures at multiple moments, the posture transformation of the target joint between adjacent moments is determined to obtain the posture transformation at multiple moments, including: determining adjacent postures at adjacent moments among the multiple postures; and determining that the difference between the adjacent postures is the posture transformation at multiple moments.

[0011] Optionally, based on the posture changes at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: determining the time intervals between adjacent moments respectively; and determining the ratios of the multiple posture changes to the time intervals as the motion parameters at multiple moments.

[0012] Optionally, it also includes: generating a jitter suppression signal based on the jitter data; obtaining a control instruction for controlling the target joint; and controlling the movement of the target joint based on the jitter suppression signal and the control instruction.

[0013] According to another aspect of an embodiment of the present invention, a device for determining the jitter data of a robot joint is provided, including: an acquisition module for acquiring the postures of a target joint of the robot at multiple moments through an inertial measurement unit; a first determination module for determining the motion parameters of the target joint at multiple moments based on the postures at multiple moments; and a second determination module for determining the jitter data of the target joint based on the motion parameters at multiple moments.

[0014] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any of the above-mentioned methods for determining the jitter data of the robot joint.

[0015] According to another aspect of an embodiment of the present invention, a computer device is provided, comprising a processor for running a program, wherein the program executes any one of the above-mentioned methods for determining jitter data of a robot joint when the program is running.

[0016] In an embodiment of the present invention, an inertial measurement unit is set at the joint of the robot, and the posture of the target joint of the robot at multiple moments is obtained through the inertial measurement unit; based on the posture at multiple moments, the motion parameters of the target joint at multiple moments are determined; based on the motion parameters at multiple moments, the jitter data of the target joint is determined, thereby achieving the purpose of determining the jitter data of the joint based on the precise posture of the robot joint collected by the inertial measurement unit, thereby realizing the technical effect of improving the measurement accuracy of the jitter data of the robot joint, and further solving the technical problem of low accuracy of the method for measuring the jitter data of the robot joint in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a computer terminal for implementing a method for determining jitter data of a robot joint is shown;

[0019] Figure 2 is a flow chart of a method for determining jitter data of a robot joint provided in accordance with an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of robot joint modeling according to an optional embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a speed spectrum diagram provided according to an optional embodiment of the present invention;

[0022] Figure 5 4 is a structural block diagram of a device for determining jitter data of a robot joint provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] According to an embodiment of the present invention, an embodiment of a method for determining the jitter data of a robot joint is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0026] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal for implementing a method for determining jitter data of a robot joint is shown. Figure 1 As shown, the computer terminal 10 may include one or more (illustrated as 102a, 102b, ..., 102n in the figure) processors (the processor may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0027] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be incorporated in whole or in part into any of the other components of the computer terminal 10. As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0028] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for determining the jitter data of the robot joint in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the method for determining the jitter data of the robot joint of the above-mentioned application. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0029] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0030] Figure 2 FIG. 1 is a flow chart of a method for determining jitter data of a robot joint according to an embodiment of the present invention. Figure 2 As shown, the method includes the following steps:

[0031] Step S202 : obtaining the postures of the target joints of the robot at multiple moments through an inertial measurement unit.

[0032] An inertial measurement unit (IMU) is a device that measures an object's three-axis attitude angle (or angular rate) and acceleration. Typically, an IMU consists of three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the acceleration signals of the object in the carrier's coordinate system along three independent axes, while the gyroscopes detect the carrier's angular velocity signals relative to the reference coordinate system. Together, these measurements determine the object's angular velocity and acceleration in three-dimensional space and use them to determine the object's attitude.

[0033] A robot is usually composed of a base and multiple joints, wherein the last joint in the joint chain composed of multiple joints is generally referred to as the robot end. In this step, an inertial measurement unit can be applied to the field of robotics, and an inertial measurement unit is set at the joint of the robot to obtain the posture of the joint. The target joint can be any one or more joints in the robot. Since the shaking phenomenon of the robot joint generally occurs during the movement or within a period of time after the movement stops, the posture of the joint at multiple moments can be collected for analysis to determine the shaking phenomenon of the joint within the time period composed of multiple moments. In order to facilitate data analysis, the time interval between multiple moments is generally constant.

[0034] Figure 3 is a schematic diagram of robot joint modeling according to an optional embodiment of the present invention, such as Figure 3 As shown in the figure, an open-chain robot can be considered to be composed of several rigid rods connected end to end. A body-attached coordinate system is established for each rod of the manipulator, and the relative positions and postures of these coordinate systems are described using homogeneous transformation matrices. The homogeneous transformation matrix of the robot's end effector relative to the reference coordinate system (generally the base coordinate system) is then derived, resulting in the robot's kinematic equations. After establishing the coordinate system using the Denavit-Hartenberg (DH) method, the relative positions and postures of coordinate systems {i-1} and {i} can be expressed using the following four parameters:

[0035] (1) Rod length a i Defined as Z i-1 Axis to Z i The distance along the X axis i The direction of the axis is positive;

[0036] (2) Rod torsion angle α i Defined as Z i-1 Axis to Z i Angle of rotation around the X axis i The positive direction of the axis is positive, and α is specified i ∈(-π,π];

[0037] (3) Joint distance d i Defined as i-1 Axis to X i The distance along the Z axis i-1 The direction of the axis is positive;

[0038] (4) Joint distance θ i Defined as i-1 ) axis to X i Angle of rotation around the Z axis i-1 The positive direction of the axis is positive, and θ is specified i ∈(-π,π].

[0039] where a i and α i is the structural parameter of member i, which is a constant. i and θ i It is related to the type of joint i. When joint i is a rotational joint, d i is a constant, θ i is a variable; and when joint i is a moving joint, θ i is a constant, d i is a variable.

[0040] Depend on Figure 3 It can be seen that the coordinate system {i-1} can be continuously moved relative to the coordinate system {i} through the following four steps:

[0041] (1) Along Z i-1 Axis movement d i ;

[0042] (2) Around Z i-1 Axis rotation θ i ;

[0043] (3) Along X i Axis movement a i ;

[0044] (4) Around X i Axis rotation α i .

[0045] Continuously right-multiplying the relative motion homogeneous transformation matrix can obtain the relationship between adjacent coordinates:

[0046]

[0047] in, i-1 T i The matrix formed by the first three rows and three columns in the upper left corner is the attitude change of the adjacent coordinate system, which can be calculated using the data obtained by the inertial measurement unit.

[0048] Therefore, the IMU placed in the robot joint can monitor the robot's posture without being affected by the processing accuracy and installation accuracy of the connected workpiece, providing a more accurate installation posture for the robot's kinematic and dynamic modeling.

[0049] Step S204 : determining the motion parameters of the target joint at the multiple moments according to the postures at the multiple moments.

[0050] As an optional embodiment, based on the postures at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: based on the postures at multiple moments, determining the posture transformation of the target joint between adjacent moments, and obtaining the posture transformation at multiple moments, wherein the posture transformation at multiple moments respectively corresponds to the later moments in the adjacent moments; based on the posture transformation at multiple moments, determining the motion parameters of the target joint at multiple moments, wherein the motion parameters at multiple moments correspond to the later moments in the adjacent moments.

[0051] As an optional embodiment, based on the postures at multiple moments, the posture transformation of the target joint between adjacent moments is determined to obtain the posture transformation at multiple moments, including: determining adjacent postures at adjacent moments in multiple postures; determining the differences between adjacent postures as the posture transformations at multiple moments.

[0052] As an optional embodiment, the motion parameters of the target joint at multiple moments are determined based on the posture changes at multiple moments, including: determining the time intervals between adjacent moments respectively; determining the ratios of multiple posture changes to the time intervals as the motion parameters at multiple moments.

[0053] Optionally, here, the t-1 moment and the t moment can be used as adjacent moments for illustration. The inertial measurement unit can measure the posture of the target joint at the t-1 moment and the posture of the target joint at the t moment respectively. The posture of the target joint at the t moment can be deducted from the posture of the target joint at the t-1 moment, as the posture transformation of the target joint between the t-1 moment and the t moment. It can be uniformly defined that the posture transformation at this time is the posture transformation at the t moment. Then, the time interval between the t-1 moment and the t moment can be calculated, and the posture transformation at the t moment can be divided by the time interval to obtain the motion speed of the target joint at the t moment. Of course, the posture transformation between the t-1 moment and the t moment can also be defined as the posture transformation at the t-1 moment, which does not affect the implementation of this solution.

[0054] It should be noted that the above is only an example, and the multiple moments may include multiple sets of adjacent moments. The posture transformation of the target joint in the adjacent moments can be calculated separately to determine the motion parameters at the multiple moments. The motion parameters can be velocity or other motion parameters that can be obtained through posture transformation.

[0055] Step S206: Determine the jitter data of the target joint according to the motion parameters at multiple moments.

[0056] As an optional embodiment, determining the jitter data of the target joint based on the motion parameters at multiple moments includes: performing Fourier transform on the motion parameters at multiple moments to generate a spectrum diagram of the motion parameters at multiple moments; and determining the jitter data of the target joint based on the spectrum diagram.

[0057] Alternatively, taking the velocity as an example, the vibration data of the target joint can be determined by the frequency spectrum of the velocity. Specifically, the frequency spectrum information of the velocity V[ω] can be obtained by Fourier transforming the velocity V[ω]: The amplitude and time delay of each velocity signal can be read from the velocity spectrum, so the jitter data of the target joint can be determined by analyzing the velocity spectrum.

[0058] By setting an inertial measurement unit at the joint of the robot, through the above steps, the purpose of determining the jitter data of the joint is achieved based on the precise posture of the robot joint collected by the inertial measurement unit, thereby achieving the technical effect of improving the measurement accuracy of the jitter data of the robot joint, and further solving the technical problem of low accuracy of the method for measuring the jitter data of the robot joint in the related technology.

[0059] As an optional embodiment, it further includes: matching the spectrum graph with the fault spectrum graph to obtain a matching result; and determining the working state of the target joint based on the matching result, wherein the working state includes a normal state and an abnormal state.

[0060] Optionally, multiple fault spectrum graphs can be determined in advance, and the obtained spectrum graph can be matched with the fault spectrum graph. When the match is successful, it means that the target joint also has the same fault. When the match is unsuccessful, it can be considered that the target joint is abnormal. Figure 4 is a schematic diagram of a speed spectrum diagram provided according to an optional embodiment of the present invention, such as Figure 4 As shown, the detected joint motion speed is 50Hz. After normalizing the frequency, as shown in the figure below, there is a clear peak at 1 times the speed, indicating that the robot joint experiences an impact after each rotation. This is generally caused by assembly errors, such as improperly installed reducers. If the amplitude corresponding to 2 times the speed is large, it is generally a problem with the harmonic reducer; if it is 5 times the speed, it may be a problem with the motor.

[0061] As an optional embodiment, the method further includes: generating a vibration suppression signal according to the vibration data; obtaining a control instruction for controlling the target joint; and controlling the movement of the target joint according to the vibration suppression signal and the control instruction.

[0062] Optionally, velocity information, or jitter data, can be input into the shaper, which can generate a corresponding jitter suppression signal based on the velocity information. Before the next control instruction is sent to the target joint, the jitter suppression signal can be combined with the control instruction to generate a corresponding control instruction that takes into account the jitter data of the target joint. When the target joint is controlled according to the combined control instruction, the jitter of the target joint will be reduced to a certain extent, thus achieving anti-shake function for the robot joint.

[0063] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0064] Through the description of the above embodiments, those skilled in the art can clearly understand that the method for determining the jitter data of the robot joint according to the above embodiment can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0065] According to an embodiment of the present invention, there is also provided a device for determining jitter data of a robot joint for implementing the above-mentioned method for determining jitter data of a robot joint. Figure 5 is a structural block diagram of a device for determining jitter data of a robot joint according to an embodiment of the present invention. Figure 5 As shown, the device for determining the jitter data of the robot joint includes: an acquisition module 52, a first determination module 54 and a second determination module 56. The device for determining the jitter data of the robot joint is described below.

[0066] The acquisition module 52 is used to obtain the postures of the target joint of the robot at multiple moments through the inertial measurement unit; the first determination module 54 is used to determine the motion parameters of the target joint at multiple moments based on the postures at multiple moments; the second determination module 56 is used to determine the jitter data of the target joint based on the motion parameters at multiple moments.

[0067] It should be noted that the acquisition module 52, first determination module 54, and second determination module 56 described above correspond to steps S202 to S206 in the embodiment. The examples and application scenarios implemented by the various modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0068] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one of a plurality of network devices in a computer network. The computer device includes a memory and a processor.

[0069] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and device for determining the jitter data of the robot joint in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned method for determining the jitter data of the robot joint. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely located relative to the processor, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0070] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: obtain the postures of the target joints of the robot at multiple moments through the inertial measurement unit; determine the motion parameters of the target joints at multiple moments based on the postures at multiple moments; determine the jitter data of the target joints based on the motion parameters at multiple moments.

[0071] Optionally, determining the jitter data of the target joint based on the motion parameters at multiple moments includes: performing Fourier transform on the motion parameters at multiple moments to generate a spectrum graph of the motion parameters at multiple moments; and determining the jitter data of the target joint based on the spectrum graph.

[0072] Optionally, it also includes: matching the spectrum graph with the fault spectrum graph to obtain a matching result; determining the working state of the target joint based on the matching result, wherein the working state includes a normal state and an abnormal state.

[0073] Optionally, based on the postures at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: based on the postures at multiple moments, determining the posture transformation of the target joint between adjacent moments, and obtaining the posture transformation at multiple moments, wherein the posture transformation at multiple moments respectively corresponds to the later moments in the adjacent moments; based on the posture transformation at multiple moments, determining the motion parameters of the target joint at multiple moments, wherein the motion parameters at multiple moments correspond to the later moments in the adjacent moments.

[0074] Optionally, based on the postures at multiple moments, the posture transformation of the target joint between adjacent moments is determined to obtain the posture transformation at multiple moments, including: determining adjacent postures at adjacent moments among the multiple postures; and determining that the difference between the adjacent postures is the posture transformation at multiple moments.

[0075] Optionally, based on the posture changes at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: determining the time intervals between adjacent moments respectively; and determining the ratios of the multiple posture changes to the time intervals as the motion parameters at multiple moments.

[0076] Optionally, it also includes: generating a jitter suppression signal based on the jitter data; obtaining a control instruction for controlling the target joint; and controlling the movement of the target joint based on the jitter suppression signal and the control instruction.

[0077] An embodiment of the present invention provides a method for determining jitter data of a robot joint. By disposing an inertial measurement unit at the robot joint, the inertial measurement unit is used to obtain the posture of the robot's target joint at multiple moments; based on the postures at the multiple moments, the motion parameters of the target joint at the multiple moments are determined; and based on the motion parameters at the multiple moments, the jitter data of the target joint is determined. This achieves the purpose of determining the jitter data of the joint based on the precise posture of the robot joint collected by the inertial measurement unit, thereby achieving the technical effect of improving the measurement accuracy of the robot joint jitter data, and further solving the technical problem of low accuracy of the method for measuring robot joint jitter data in related technologies.

[0078] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0079] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the method for determining the jitter data of the robot joint provided in the above embodiment.

[0080] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0081] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: obtaining the postures of the target joints of the robot at multiple moments through an inertial measurement unit; determining the motion parameters of the target joints at multiple moments based on the postures at multiple moments; and determining the jitter data of the target joint based on the motion parameters at multiple moments.

[0082] Optionally, determining the jitter data of the target joint based on the motion parameters at multiple moments includes: performing Fourier transform on the motion parameters at multiple moments to generate a spectrum graph of the motion parameters at multiple moments; and determining the jitter data of the target joint based on the spectrum graph.

[0083] Optionally, it also includes: matching the spectrum graph with the fault spectrum graph to obtain a matching result; determining the working state of the target joint based on the matching result, wherein the working state includes a normal state and an abnormal state.

[0084] Optionally, based on the postures at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: based on the postures at multiple moments, determining the posture transformation of the target joint between adjacent moments, and obtaining the posture transformation at multiple moments, wherein the posture transformation at multiple moments respectively corresponds to the later moments in the adjacent moments; based on the posture transformation at multiple moments, determining the motion parameters of the target joint at multiple moments, wherein the motion parameters at multiple moments correspond to the later moments in the adjacent moments.

[0085] Optionally, based on the postures at multiple moments, the posture transformation of the target joint between adjacent moments is determined to obtain the posture transformation at multiple moments, including: determining adjacent postures at adjacent moments among the multiple postures; and determining that the difference between the adjacent postures is the posture transformation at multiple moments.

[0086] Optionally, based on the posture changes at multiple moments, the motion parameters of the target joint at multiple moments are determined, including: determining the time intervals between adjacent moments respectively; and determining the ratios of the multiple posture changes to the time intervals as the motion parameters at multiple moments.

[0087] Optionally, it also includes: generating a jitter suppression signal based on the jitter data; obtaining a control instruction for controlling the target joint; and controlling the movement of the target joint based on the jitter suppression signal and the control instruction.

[0088] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0089] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0091] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0092] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, and other media that can store program code.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for determining jitter data of a robot joint, characterized in that: include: The inertial measurement unit is used to obtain the postures of the robot's target joints at multiple moments; Determining motion parameters of the target joint at the multiple moments respectively according to the postures at the multiple moments; Determine the jitter data of the target joint according to the motion parameters at the multiple moments, Determining the jitter data of the target joint based on the motion parameters at the multiple moments includes: performing Fourier transform on the motion parameters at the multiple moments to generate a spectrum of the motion parameters at the multiple moments; determining the jitter data of the target joint based on the spectrum, Determining the motion parameters of the target joint at the multiple moments respectively based on the postures at the multiple moments includes: determining the posture transformation of the target joint between adjacent moments based on the postures at the multiple moments, and obtaining the posture transformation at the multiple moments, wherein the posture transformation at the multiple moments respectively corresponds to the later moments in the adjacent moments; determining the motion parameters of the target joint at the multiple moments respectively based on the posture transformation at the multiple moments, wherein the motion parameters at the multiple moments correspond to the later moments in the adjacent moments.

2. The method according to claim 1, characterized in that Also includes: Matching the spectrum graph with the fault spectrum graph to obtain a matching result; The working state of the target joint is determined according to the matching result, wherein the working state includes a normal state and an abnormal state.

3. The method according to claim 1, characterized in that Determining the posture transformation of the target joint between adjacent moments based on the postures at the multiple moments to obtain the posture transformation at the multiple moments includes: Determining adjacent postures at the adjacent moments respectively from the plurality of postures; The differences between the adjacent postures are determined to be posture changes at the multiple moments.

4. The method according to claim 3, characterized in that Determining the motion parameters of the target joint at the multiple moments respectively according to the posture transformations at the multiple moments includes: respectively determining the time intervals between the adjacent moments; The ratios of the multiple posture changes to the time intervals are determined as motion parameters at the multiple moments.

5. The method according to any one of claims 1 to 4, characterized in that Also includes: generating a jitter suppression signal according to the jitter data; Obtaining a control instruction for controlling the target joint; The target joint movement is controlled according to the vibration suppression signal and the control instruction.

6. A device for determining jitter data of a robot joint, characterized in that: include: An acquisition module is used to obtain the postures of the robot's target joints at multiple moments through an inertial measurement unit; The first determination module is configured to determine the motion parameters of the target joint at the plurality of moments according to the postures at the plurality of moments, including: determining the posture transformation of the target joint between adjacent moments according to the postures at the plurality of moments to obtain the posture transformations at the plurality of moments, wherein the posture transformations at the plurality of moments respectively correspond to moments later in time among the adjacent moments; and determining the motion parameters of the target joint at the plurality of moments according to the posture transformations at the plurality of moments, wherein the motion parameters at the plurality of moments correspond to moments later in time among the adjacent moments; The second determination module is used to determine the jitter data of the target joint based on the motion parameters at the multiple moments, including: performing Fourier transform on the motion parameters at the multiple moments to generate a frequency spectrum of the motion parameters at the multiple moments; and determining the jitter data of the target joint based on the frequency spectrum.

7. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute the method for determining the jitter data of the robot joint according to any one of claims 1 to 5.

8. A computer device, characterized in that: include: memory and processor, The memory stores a computer program; The processor is configured to execute a computer program stored in the memory, and when the computer program is executed, the processor executes the method for determining jitter data of a robot joint according to any one of claims 1 to 5.

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