Robot joint backstepping control method and device

Abstract

The application discloses a robot joint backstepping control method and device, the method comprises the following steps: calculating the backstepping joint angle of an external shaft according to a preset joint fixed value or a preset backstepping joint angle follow-up value, the external shaft is an external shaft connected with a robot, wherein the preset joint fixed value is a value of joint angle maintenance, and the preset backstepping joint angle follow-up value is a value offset on the basis of an initial backstepping joint angle; and calculating the backstepping joint angle of the robot according to the backstepping joint angle of the external shaft. The application solves the problem that the existing robot joint backstepping mode cannot meet different on-site requirements and influences the working efficiency of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a method and apparatus for controlling the reverse thrust of a robot joint. Background Technology

[0002] In the field of robotics industrial applications, such as welding, laser cutting, and cladding, robots typically need to use appropriate tools according to a work trajectory when performing these operations. To ensure that the robot moves according to the work trajectory, joint backpropagation is usually performed based on the work trajectory and inverse kinematics. Joint backpropagation involves calculating the angle values ​​of each joint of the robot given the position and orientation of the robot's end effector. The angle values ​​of the robot joints obtained from the joint backpropagation calculation are the backpropagated joint values, and the robot moves according to the backpropagated joint angles. In practical applications, robot joint backpropagation is usually controlled and calculated by software. After determining the work trajectory, the backpropagated joint angles can be determined by the software's in-house calculation method, thereby controlling the robot's movement. However, the inventors have found that in practical applications, especially when the robot needs to work in conjunction with external equipment, the backpropagated joint angles of the robot and external equipment obtained by the existing in-house software calculation method, while meeting the basic requirements of the operation, cannot meet the user's needs for the robot and external equipment to move in the optimal posture in different usage scenarios, thus affecting the efficiency of the operation. Summary of the Invention

[0003] The main purpose of this application is to provide a robot joint pushback control method and device to solve the problem that the existing robot joint pushback methods cannot meet the needs of different sites and affect the efficiency of operation.

[0004] To achieve the above objectives, according to a first aspect of this application, a robot joint back thrust control method is provided.

[0005] The robot joint thrust control method according to this application includes: calculating the thrust joint angle of an external axis based on a preset joint fixation value or a preset thrust joint angle following value, wherein the external axis is an external axis connected to the robot, wherein the preset joint fixation value is a value maintained by the joint angle, and the preset thrust joint angle following value is a value offset from the initial thrust joint angle; and calculating the thrust joint angle of the robot based on the thrust joint angle of the external axis.

[0006] Optionally, calculating the reverse joint angle of the external axis based on a preset joint fixation value or a preset reverse joint angle following value includes: calculating the initial reverse joint angle of the external axis based on the working trajectory and external axis information; obtaining a preset joint fixation value or a preset reverse joint angle following value corresponding to the external axis; fixing or following the initial reverse joint angle of the external axis based on the preset joint fixation value or the preset reverse joint angle following value of the external axis to obtain the reverse joint angle of the external axis.

[0007] Optionally, the external axis includes a positioner and a guide rail. The robot is fixed on the guide rail, and the workpiece is fixed on the positioner. Calculating the thrust joint angle of the external axis based on preset joint fixation values ​​or preset thrust joint angle following values ​​includes: calculating the initial thrust joint angle of the positioner based on the work trajectory and positioner information; obtaining the preset joint fixation value or preset thrust joint angle following value corresponding to the positioner; fixing or following the initial thrust joint angle of the positioner based on the preset joint fixation value or preset thrust joint angle following value to obtain the thrust joint angle of the positioner; calculating the initial thrust joint angle of the guide rail based on the position of the resulting trajectory point after the positioner's movement and the position of the robot's end effector; obtaining the preset joint fixation value or preset thrust joint angle following value corresponding to the guide rail; fixing or following the initial thrust joint angle of the guide rail based on the preset joint fixation value or preset thrust joint angle following value to obtain the thrust joint angle of the guide rail.

[0008] Optionally, the step of calculating the initial reverse thrust joint angle of the positioner based on the work trajectory and positioner information includes: obtaining preset conditions, wherein the preset conditions are to always keep the vertical axis of the trajectory point in the work trajectory perpendicular to the current ground; and calculating the initial reverse thrust joint angle of the positioner based on the preset conditions, the work trajectory, and the positioner information.

[0009] Optionally, calculating the robot's thrust joint angle based on the thrust joint angle of the external axis includes: determining whether the thrust joint angle of the guide rail is reachable based on the guide rail's movable range; if it is not reachable, then calculating the robot's thrust joint angle.

[0010] Optionally, the preset joint fixation value ranges from -180° to 180°; the preset reverse joint angle following value ranges from -180° to 180°.

[0011] To achieve the above objectives, according to a second aspect of this application, a robot joint reverse thrust control device is provided.

[0012] The robot joint thrust-back control device according to this application includes: an external axis thrust-back joint angle calculation unit, used to calculate the thrust-back joint angle of the external axis according to a preset joint fixation value or a preset thrust-back joint angle following value, wherein the external axis is an external axis linked to the robot, wherein the preset joint fixation value is a value maintained by the joint angle, and the preset thrust-back joint angle following value is a value offset from the initial thrust-back joint angle; and a robot thrust-back joint angle calculation unit, used to calculate the thrust-back joint angle of the robot according to the thrust-back joint angle of the external axis.

[0013] Optionally, the external axis reverse thrust joint angle calculation unit includes: a first calculation module, used to calculate the initial reverse thrust joint angle of the external axis based on the working trajectory and external axis information; an acquisition module, used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the external axis; and a fixed following processing module, used to fix or follow the initial reverse thrust joint angle of the external axis according to the preset joint fixation value or the preset reverse thrust joint angle following value of the external axis, so as to obtain the reverse thrust joint angle of the external axis.

[0014] Optionally, the external axis includes a positioner and a guide rail. The robot is fixed on the guide rail, and the workpiece is fixed on the positioner. The first calculation module is used to calculate the initial reverse thrust joint angle of the positioner based on the work trajectory and positioner information. The acquisition module is used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the positioner. The fixed following processing module is used to fix or follow the initial reverse thrust joint angle of the positioner based on the preset joint fixation value or the preset reverse thrust joint angle following value of the positioner to obtain the reverse thrust joint angle of the positioner. The first calculation module is also used to calculate the initial reverse thrust joint angle of the guide rail based on the position of the result trajectory point after the positioner moves and the position of the robot end. The acquisition module is also used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the guide rail. The fixed following processing module is also used to fix or follow the initial reverse thrust joint angle of the guide rail based on the preset joint fixation value or the preset reverse thrust joint angle following value of the guide rail to obtain the reverse thrust joint angle of the guide rail.

[0015] Optionally, the first calculation module is further configured to: obtain preset conditions, wherein the preset conditions are to always keep the vertical axis of the trajectory point in the operation trajectory perpendicular to the current ground; and calculate the initial reverse thrust joint angle of the positioner based on the preset conditions, the operation trajectory, and the positioner information.

[0016] Optionally, the robot back-thrust joint angle calculation unit includes: a judgment module, used to judge whether the back-thrust joint angle of the guide rail is reachable based on the movable range of the guide rail; and a second calculation module, used to calculate the robot's back-thrust joint angle if it is not reachable.

[0017] Optionally, the preset joint fixation value ranges from -180° to 180°; the preset reverse joint angle following value ranges from -180° to 180°.

[0018] To achieve the above objectives, according to a third aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing the computer to execute the robot joint back-pushing control method described in any one of the first aspects above.

[0019] To achieve the above objectives, according to a fourth aspect of this application, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the robot joint back-pushing control method described in any of the first aspects above.

[0020] In the robot joint thrust-back control method and apparatus of this application embodiment, the user can set a preset joint fixed value or a preset thrust-back joint angle following value for the thrust-back joint angle according to the actual on-site requirements. During thrust-back joint angle calculation, the thrust-back joint angle of the external axis connected to the robot is first calculated based on the preset joint fixed value or the preset thrust-back joint angle following value. This ensures that during the calculation of the external axis's thrust-back joint angle, the joint angle of a certain axis remains at the preset joint fixed value, or is offset from the initial thrust-back joint angle (the default thrust-back joint angle calculated by the existing thrust-back joint angle calculation method) by the preset thrust-back joint angle following value. This thrust-back joint angle calculation method can be called the fixed-following joint thrust-back method. The thrust-back joint angle of the external axis calculated in this way meets the on-site usage requirements. After determining the external axis thrust-back joint angle, the robot thrust-back joint angle is then calculated based on the external axis thrust-back joint angle. The robot thrust-back joint angle obtained in this way also meets the on-site usage requirements. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings:

[0022] Figure 1 This is a flowchart of a robot joint thrust-back control method according to an embodiment of this application;

[0023] Figure 2This is a schematic diagram illustrating the setting of a preset joint fixation value or a preset reverse joint angle following value according to an embodiment of this application.

[0024] Figure 3 This is a flowchart of another robot joint thrust control method provided according to an embodiment of this application;

[0025] Figure 4 This is a block diagram of a robot joint thrust control device according to an embodiment of this application;

[0026] Figure 5 This is a block diagram of another robot joint thrust control device provided according to an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] According to an embodiment of this application, a robot joint thrust reverse control method is provided, such as... Figure 1As shown, the method includes the following steps S101-S102: S101. Calculate the back-thrust joint angle of the external axis based on a preset joint fixation value or a preset back-thrust joint angle following value; wherein the external axis is the external axis connected to the robot, and the preset joint fixation value is the value maintained by the joint angle, and the preset back-thrust joint angle following value is the value offset from the initial back-thrust joint angle; S102. Calculate the robot's back-thrust joint angle based on the back-thrust joint angle of the external axis. It should be noted that the process of calculating the back-thrust joint angle is the same as joint back-thrust.

[0031] In step S101, external axes are axes outside the robot body, such as bases, guide rails, positioners, etc. These external axes, in conjunction with the robot, can improve the robot's efficiency. The preset joint fixation value is the value at which the joint angle is maintained. For example, setting the preset joint fixation value for a certain external axis to 50° means that the joint angle should always be maintained at 50° when calculating the reverse joint angle of that external axis. The preset joint fixation value is set in advance by the user based on the actual application environment and their own needs. The range of the preset joint fixation value is greater than or equal to -180° and less than or equal to 180°. The preset reverse joint angle following value is an offset value based on the initial reverse joint angle. For example, setting the preset reverse joint angle following value for a certain external axis to -135° means that the reverse joint angle of that external axis should be offset by -135° from the calculated default reverse joint angle. The preset retrograde joint angle following value is also set by the user in advance according to the actual application environment and their own needs. The preset retrograde joint angle following value ranges from greater than or equal to -180° to less than or equal to 180°. This application embodiment provides a schematic diagram of setting a preset joint fixation value or a preset retrograde joint angle following value, as shown below. Figure 2 As shown. Users can select the joint counter-pushing method as "fixed and following" and then set the corresponding preset joint fixation value or preset counter-pushing joint angle following value. Figure 2 E1, E2, E3, E4, and E5 represent the five external axes linked to the robot. Each external axis can be set individually. Specifically, the calculation type can be "follow" or "fixed", and the value can be selected within the range of [-180°, 180°]. Figure 2 In the calculations, E1, E2, and E3 are set to "follow," but the value is 0, indicating that the default reverse joint angle is used and no offset from the default reverse joint angle is required. E4 and E5 are also set to "follow," with corresponding values ​​of -135 and -180 respectively. This means that E4 needs to be offset by -135° from the default reverse joint angle when calculating the reverse joint angle, and E5 needs to be offset by -180° from the default reverse joint angle when calculating the reverse joint angle. Users can... Figure 2After completing the settings, the software backend can obtain the preset joint fixation values ​​or preset reverse joint angle following values, and perform corresponding fixation or following processing when calculating the reverse joint angle, ultimately obtaining the reverse joint angle of the external axis. It should be noted that, apart from considering the preset joint fixation values ​​or preset reverse joint angle following values, the calculation of the reverse joint angle is the same as the existing joint reverse calculation (inverse solution calculation) method, which is also based on the work trajectory and external axis information.

[0032] The implementation of step S101 can specifically include: calculating the initial reverse thrust joint angle of the external axis based on the work trajectory and external axis information; then obtaining a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the external axis; fixing or following the initial reverse thrust joint angle according to the preset joint fixation value or the preset reverse thrust joint angle following value to obtain the reverse thrust joint angle of the external axis. The fixing process is to process the initial reverse thrust joint angle of the external axis by fixing the joint angle of the external axis to the preset joint fixation value; the following process is to process the initial reverse thrust joint angle of the external axis by offsetting it by the preset reverse thrust joint angle following value. It should also be noted that in practical applications where there are multiple external axes linked to the robot, the calculation of the reverse thrust joint angle of the external axes is processed in a certain order: first determining the reverse thrust joint angle of one external axis, and then determining the reverse thrust joint angle of the next external axis. This is because they usually need to be linked.

[0033] In step S102, once the thrust angle of the external axis is determined, the thrust angle of the robot can be calculated. Because the external axis and the robot are linked and used in conjunction, the robot's thrust angle also needs to be adjusted according to the thrust angle of the external axis. In this embodiment, a preset joint fixation value or a preset thrust angle following value is added when calculating the thrust angle of the external axis. Therefore, it is different from the default thrust angle. So the robot's thrust angle also needs to change accordingly to better cooperate with the operation. Therefore, after obtaining the thrust angle of the external axis, the thrust angle is calculated based on the motion result of the external axis and the position of the robot.

[0034] Furthermore, it should be noted that the methods described in this application embodiment are suitable for robots to perform operations in fields such as welding, laser cutting, and cladding. Welding includes various welding methods, such as fillet welding and sprue welding. Additionally, it should be noted that different operational fields may correspond to different operational trajectories; for example, welding corresponds to a welding trajectory, laser cutting to a cutting trajectory, and cladding to a cladding trajectory.

[0035] As can be seen from the above description, in the control method of this application embodiment, the user can set a preset joint fixed value or a preset back thrust joint angle following value for the back thrust joint angle according to the actual on-site requirements. When calculating the back thrust joint angle, the back thrust joint angle of the external axis connected to the robot is first calculated based on the preset joint fixed value or the preset back thrust joint angle following value, so that during the calculation of the back thrust joint angle of the external axis, the joint angle of a certain axis is kept at the preset joint fixed value, or the value is offset from the preset back thrust joint angle following value based on the initial back thrust joint angle (the default back thrust joint angle calculated by the existing back thrust joint angle calculation method). This back thrust joint angle calculation method can be called the fixed following joint back thrust method. The back thrust joint angle of the external axis calculated in this way meets the back thrust joint angle required for on-site use. After determining the back thrust joint angle of the external axis, the robot back thrust joint angle is calculated based on the back thrust joint angle of the external axis. The robot back thrust joint angle obtained in this way also meets the back thrust joint angle required for on-site use.

[0036] Furthermore, regarding the above Figure 1 The robot joint back thrust control method described in this application also provides an application example in a specific application scenario. The external axis linked to the robot includes a positioner and a guide rail. The robot is fixed on the guide rail, the workpiece is fixed on the positioner, and the work trajectory is on the workpiece. The positioner rotates, and the work trajectory moves accordingly. The robot joint back thrust control method corresponding to the above application example includes the following steps: S201. Calculate the initial back thrust joint angle of the positioner based on the work trajectory and positioner information; S202. Obtain a preset joint fixation value or a preset back thrust joint angle following value corresponding to the positioner; S203. Fix or follow the initial back thrust joint angle of the positioner according to the preset joint fixation value or the preset back thrust joint angle following value to obtain the back thrust joint angle of the positioner; S204. Based on the result of the positioner's movement... S205. Calculate the initial thrust joint angle of the guide rail based on the position of the trajectory point and the position of the robot end effector; S206. Obtain the preset joint fixation value or preset thrust joint angle following value corresponding to the guide rail; S207. Fix or follow the initial thrust joint angle of the guide rail according to the preset joint fixation value or preset thrust joint angle following value of the guide rail to obtain the thrust joint angle of the guide rail; S208. Determine whether the thrust joint angle of the guide rail is reachable based on the movable range of the guide rail; S209. If it is not reachable, calculate the thrust joint angle of the robot.

[0037] In step S201, calculating the initial reverse thrust joint angle of the positioner based on the work trajectory and positioner information specifically includes: obtaining preset conditions, the preset condition being that the vertical axis of the trajectory point in the work trajectory is always perpendicular to the current ground; and calculating the initial reverse thrust joint angle of the positioner based on the preset conditions, the work trajectory, and the positioner information. Maintaining the vertical axis of the trajectory point in the work trajectory perpendicular to the current ground means always keeping the Z-axis of the trajectory point upwards. This is to ensure that the robot's end effector center point (ToolCenter Point, TCP) is downwards, and to maintain a different posture as much as possible. Maintaining this posture can improve the robot's working efficiency.

[0038] In step S204, the initial reverse joint angle of the guide rail is calculated based on the position of the result trajectory point after the positioner moves and the position of the robot end. Specifically, the current position of the robot end is used as the tool of the guide rail, that is, the current position of the robot end is the starting position, and the position of the result trajectory point after the positioner moves is the target position. The initial reverse joint angle of the guide rail is then solved.

[0039] The methods for obtaining the preset joint fixation values ​​or preset reverse joint angle following values ​​of the positioner and guide rail in steps S202 and S205 are the same as those for obtaining the preset joint fixation values ​​or preset reverse joint angle following values ​​for the positioner and guide rail. Figure 1 The acquisition method in step S101 is the same and will not be repeated here. The methods for fixing and following the initial reverse joint angle of the positioner and guide rail based on preset joint fixation values ​​or preset reverse joint angle following values ​​in steps S203 and S206 are the same as... Figure 1 The implementation methods of the fixed processing and the follow processing in step S101 are the same, and will not be described again here.

[0040] In step S207, regarding the determination of whether the retrograde joint angle of the guide rail is reachable based on the guide rail's movable range, if it is reachable, there is no need to calculate the robot's retrograde joint angle again. That is, the robot can complete the task by being fixed on the guide rail and moving along with it, or by moving along the guide rail, without needing to change the robot's posture. If it is not reachable, then step S208 is executed, that is, the robot's retrograde joint angle is calculated by taking the position of the trajectory point after the positioner's movement as the target position and the robot's current end position (the position when the robot moves along the guide rail and / or along the guide rail according to the guide rail's retrograde joint angle to the boundary of the guide rail's movable range) as the starting position.

[0041] As can be seen from the above description, in the robot joint reverse thrust control method in the embodiments corresponding to steps S201-S208, the user can customize the joint angles of the guide rail and the positioner to make its working mode the most suitable for the robot and the most in line with the process requirements.

[0042] Furthermore, embodiments of this application also provide a flowchart of a robot joint thrust-back control method, such as... Figure 3 As shown, after the joint backpropagation function starts, it processes data. Specifically, this data processing involves acquiring relevant data about the robot's operation, including data on the machining points determined based on the work trajectory, information about the robot tools, and information about the external axes (positioners and guide rails) connected to the robot. After processing the data, determine if a positioner exists. If a positioner exists, calculate its joints (corresponding to step S201 above). Then, determine if the positioner has a fixed or following setting (i.e., whether a preset joint fixed value or a preset reverse joint angle following value is set). If it is set, obtain the fixed or following setting and process the positioner data accordingly (corresponding to step S203 above). After processing, determine if a guide rail exists. If no positioner exists, directly determine if a guide rail exists. If a guide rail exists, calculate its joints (corresponding to step S204 above). Then, determine if the guide rail has a fixed or following setting (i.e., whether a preset joint fixed value or a preset reverse joint angle following value is set). If it is set, obtain the fixed or following setting and process the guide rail data accordingly (corresponding to step S206 above). Then, calculate the robot's reverse joint angle. If it is not set, directly calculate the robot's reverse joint angle, and finally output the reverse joint angle of the robot and the external axis (guide rail and positioner). Figure 3 The flowchart satisfies both the existing joint backpropagation process when no fixed and following parameters are set, and the joint backpropagation process when fixed and following parameters are set, which is very flexible.

[0043] It should be noted that the steps shown in the flowchart in 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 may be executed in a different order than that shown here.

[0044] According to embodiments of this application, a method for implementing the above is also provided. Figure 1-3 The method of robot joint thrust control device 300, such as Figure 4 As shown, the device includes: an external axis thrust joint angle calculation unit 31, used to calculate the thrust joint angle of the external axis according to a preset joint fixation value or a preset thrust joint angle following value, wherein the external axis is an external axis connected to the robot, wherein the preset joint fixation value is a value maintained by the joint angle, and the preset thrust joint angle following value is a value offset from the initial thrust joint angle; and a robot thrust joint angle calculation unit 32, used to calculate the thrust joint angle of the robot according to the thrust joint angle of the external axis.

[0045] Specifically, the detailed process by which each unit and module in the device of this application implements its function can be found in the relevant description in the method embodiment, and will not be repeated here.

[0046] As can be seen from the above description, in the robot joint thrust-back control device of this application embodiment, the user can set a preset joint fixed value or a preset thrust-back joint angle following value for the thrust-back joint angle according to the actual on-site requirements. When calculating the thrust-back joint angle, the thrust-back joint angle of the external axis connected to the robot is first calculated based on the preset joint fixed value or the preset thrust-back joint angle following value, so that during the calculation of the thrust-back joint angle of the external axis, the joint angle of a certain axis is kept at the preset joint fixed value, or offset from the initial thrust-back joint angle (the default thrust-back joint angle calculated by the existing thrust-back joint angle calculation method) by the preset thrust-back joint angle following value. This thrust-back joint angle calculation method can be called the fixed following joint thrust-back method. The thrust-back joint angle of the external axis calculated in this way meets the on-site usage requirements. After determining the external axis thrust-back joint angle, the robot thrust-back joint angle is calculated based on the external axis thrust-back joint angle. The robot thrust-back joint angle obtained in this way also meets the on-site usage requirements.

[0047] Furthermore, such as Figure 5 As shown, the external axis reverse thrust joint angle calculation unit 31 includes: a first calculation module 311, used to calculate the initial reverse thrust joint angle of the external axis according to the working trajectory and external axis information; an acquisition module 312, used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the external axis; and a fixed following processing module 313, used to fix or follow the initial reverse thrust joint angle of the external axis according to the preset joint fixation value or the preset reverse thrust joint angle following value of the external axis, so as to obtain the reverse thrust joint angle of the external axis.

[0048] Furthermore, the external axis includes a positioner and a guide rail, the robot is fixed on the guide rail, and the workpiece is fixed on the positioner, such as... Figure 5 As shown, the first calculation module 311 is used to calculate the initial reverse thrust joint angle of the positioner based on the work trajectory and positioner information; the acquisition module 312 is used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the positioner; the fixed following processing module 313 is used to fix or follow the initial reverse thrust joint angle of the positioner based on the preset joint fixation value or the preset reverse thrust joint angle following value of the positioner to obtain the reverse thrust joint angle of the positioner; the first calculation module 311 is also used to calculate the initial reverse thrust joint angle of the guide rail based on the position of the result trajectory point after the positioner moves and the position of the robot end; the acquisition module 312 is also used to acquire a preset joint fixation value or a preset reverse thrust joint angle following value corresponding to the guide rail; the fixed following processing module 313 is also used to fix or follow the initial reverse thrust joint angle of the guide rail based on the preset joint fixation value or the preset reverse thrust joint angle following value of the guide rail to obtain the reverse thrust joint angle of the guide rail.

[0049] Furthermore, such as Figure 5 As shown, the first calculation module 311 is further configured to: obtain preset conditions, wherein the preset conditions are to always keep the vertical axis of the trajectory point in the operation trajectory perpendicular to the current ground; and calculate the initial reverse joint angle of the positioner based on the preset conditions, the operation trajectory, and the positioner information.

[0050] Furthermore, such as Figure 5 As shown, the robot back-thrust joint angle calculation unit 32 includes: a judgment module 321, used to judge whether the back-thrust joint angle of the guide rail is reachable based on the movable range of the guide rail; and a second calculation module 322, used to calculate the robot's back-thrust joint angle if it is not reachable.

[0051] Furthermore, the preset joint fixation value ranges from -180° to 180°; the preset reverse joint angle following value ranges from -180° to 180°.

[0052] Specifically, the detailed process by which each unit and module in the device of this application implements its function can be found in the relevant description in the method embodiment, and will not be repeated here.

[0053] According to an embodiment of this application, a computer-readable storage medium is also provided, characterized in that the computer-readable storage medium stores computer instructions, which are used to cause the computer to execute the robot joint back-pushing control method in the above method embodiment.

[0054] According to an embodiment of this application, an electronic device is also provided, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the robot joint back-pushing control method in the above method embodiment.

[0055] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0056] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling the back thrust of a robot joint, characterized in that, The method includes: The reverse joint angle of the external axis is calculated based on a preset joint fixation value or a preset reverse joint angle following value. The external axis is the external axis connected to the robot. The preset joint fixation value is the value that the joint angle is maintained at, and the preset reverse joint angle following value is the value that is offset from the initial reverse joint angle. The external axis includes a positioner and a guide rail. The robot is fixed on the guide rail, and the workpiece is fixed on the positioner. The calculation of the external axis's reverse joint angle based on preset joint fixation values ​​or preset reverse joint angle following values ​​includes: Obtain preset conditions, which are to always keep the vertical axis of the trajectory points in the operation trajectory perpendicular to the current ground; calculate the initial reverse thrust joint angle of the positioner based on the preset conditions, the operation trajectory, and the positioner information; The user selects the joint thrust mode as fixed or following, and sets the corresponding preset joint fixation value or preset thrust joint angle following value for the positioner. The software background obtains the preset joint fixation value or preset thrust joint angle following value of the positioner. The initial reverse joint angle of the positioner is fixed or followed according to the preset joint fixation value or preset reverse joint angle following value of the positioner to obtain the reverse joint angle of the positioner. The fixing process is to fix the joint angle of the positioner at the preset joint fixation value. The following process is to adjust the initial reverse joint angle of the positioner by offsetting the initial reverse joint angle of the positioner by the preset reverse joint angle following value. The initial reverse joint angle of the guide rail is calculated based on the position of the trajectory point after the positioner moves and the position of the robot end effector. The user selects the joint thrust mode as fixed or following, and sets the preset joint fixed value or preset thrust joint angle following value corresponding to the guide rail. The software background obtains the preset joint fixed value or preset thrust joint angle following value of the guide rail; and fixes or follows the initial thrust joint angle of the guide rail according to the preset joint fixed value or preset thrust joint angle following value of the guide rail to obtain the thrust joint angle of the guide rail. The reverse joint angle of the robot is calculated based on the reverse joint angle of the external axis; The calculation of the robot's reverse joint angle based on the reverse joint angle of the external axis includes: Determine whether the reverse joint angle of the guide rail is reachable based on the movable range of the guide rail; If it is unreachable, then calculate the robot's reverse joint angle.

2. The robot joint thrust-back control method according to claim 1, characterized in that, The preset joint fixation value ranges from -180° to 180°; the preset reverse joint angle following value ranges from -180° to 180°.

3. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the robot joint back-pushing control method as described in any one of claims 1 to 2.

4. An electronic device, characterized in that, include: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the robot joint back-thrust control method as described in any one of claims 1 to 2.

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