Redundant robot position adjustment method and device, electronic equipment and storage medium

Abstract

The application provides a redundant mechanical arm position adjustment method, which is applied to various scenes such as cloud technology, artificial intelligence, intelligent transportation and vehicle-mounted devices, relates to the fields of artificial intelligence, cloud technology and block chain, and comprises the following steps: acquiring end coordinates of a redundant mechanical arm of a mobile redundant mechanical arm system; constructing a collaborative carrying optimization function of a plurality of mobile redundant mechanical arm systems; acquiring constraint conditions of the collaborative carrying optimization function; performing solution calculation on the collaborative carrying optimization function to obtain joint angular velocity of the redundant mechanical arm, mobile platform velocity and carrying object rotating angular velocity; and adjusting the position of the redundant mechanical arm. The application further provides a redundant mechanical arm position adjustment device, an electronic device and a storage medium. The application can accurately determine the position of the redundant mechanical arm, reduce the occurrence of singular states, reduce the probability of causing joint damage and sensor failure of the redundant mechanical arm, and reduce energy loss of the redundant mechanical arm.

Description

Technical Field

[0001] This invention relates to visual information processing technology, and more particularly to a method, apparatus, electronic device, storage medium, and software program for adjusting the position of a redundant robotic arm. Background Technology

[0002] Mobile robotic arms are expected to handle a variety of engineering and industrial tasks, such as industrial welding, services for the disabled, and object transportation. However, with continuous social development and progress, many jobs are becoming increasingly complex and diverse, and the requirements for precision and variety in production processes are also increasing, which a single mobile robotic arm can no longer meet. Therefore, research on multi-robot systems has attracted considerable attention. Compared to single-robot systems, multi-robot systems have several advantages: multi-robot systems can accomplish tasks that a single robot cannot through collaborative work, handling more complex tasks and exhibiting greater system robustness; multi-robot systems can use distributed methods to process tasks, improving task completion efficiency; and multiple simple robot systems have a simpler architecture than a single complex single-robot system, resulting in lower costs.

[0003] Multi-robot cooperative handling refers to the use of multiple robots to support a target object. Coordinated motion control among the robots ensures the consistency of the group's movement, achieving the repositioning of the target object. However, while redundant robotic arms possess high flexibility, they still encounter singularity issues in actual motion planning. When a redundant robotic arm approaches a singularity, even a small displacement at the end effector can cause severe joint vibration, leading to joint damage, sensor malfunction, and affecting its usability. Furthermore, the proximity of the redundant robotic arm to a singularity wastes a significant amount of kinetic energy, increasing its energy consumption. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, apparatus, electronic device, storage medium, and robot for adjusting the position of a redundant robotic arm, which can accurately determine the position of the redundant robotic arm, reduce the occurrence of singular states, make it more convenient for users to use the robotic arm, reduce the probability of joint damage and sensor failure of the redundant robotic arm, and reduce the energy consumption of the redundant robotic arm, making the movement of the redundant robotic arm more energy-efficient.

[0005] The technical solution of this invention is implemented as follows:

[0006] This invention provides a method for adjusting the position of a redundant robotic arm, comprising:

[0007] The end-effector coordinates of the redundant robotic arm are calculated based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform.

[0008] Based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm, a collaborative handling optimization function for multiple mobile redundant robotic arm systems is constructed.

[0009] Obtain the constraints of the cooperative transport optimization function;

[0010] Based on the constraints, the collaborative handling optimization function is solved using the end-effector coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0011] The position of the redundant robotic arm is adjusted by using the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the object being transported.

[0012] This invention also provides a redundant robotic arm position adjustment device, comprising:

[0013] The information transmission module is used to acquire the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform;

[0014] The information processing module is used to calculate the end coordinates of the redundant robotic arm based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform.

[0015] The information processing module is used to construct a collaborative handling optimization function for multiple mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm.

[0016] The information processing module is used to obtain the constraints of the cooperative transport optimization function;

[0017] The information processing module is used to solve the cooperative handling optimization function based on the constraints and the end coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0018] The information processing module is used to adjust the position of the redundant robotic arm by using the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0019] In the above scheme,

[0020] The information processing module is used to acquire the speed parameters of the mobile platform and the joint angular velocity of the redundant robotic arm;

[0021] The information processing module is used to calculate the Jacobian matrix of the joint angular velocities of the redundant robotic arm.

[0022] The information processing module is used to calculate the speed parameters of the end effector of the redundant robotic arm based on the speed parameters of the mobile platform, the joint angular velocity of the redundant robotic arm, and the Jacobian matrix.

[0023] The information processing module is used to calculate the end coordinates of the redundant robotic arm based on the joint angles of the redundant robotic arm, the speed parameters of the end of the redundant robotic arm, and the position parameters of the mobile platform, so as to obtain the end coordinates of the redundant robotic arm in the mobile redundant robotic arm system.

[0024] In the above scheme,

[0025] The information processing module is used to obtain the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the transported object.

[0026] The information processing module is used to calculate the first correspondence between the joint kinetic energy function of the redundant robotic arm and the joint angular velocity of the redundant robotic arm.

[0027] The information processing module is used to calculate a second correspondence between the kinetic energy function of the mobile platform and the speed of the mobile platform;

[0028] The information processing module is used to calculate the third correspondence between the rotational kinetic energy function of the transported object and the rotational angular velocity of the transported object;

[0029] The information processing module is used to calculate the Jacobian matrix of the joint angular velocity of the redundant robotic arm and the fourth correspondence between it and the operation adjustment function of the redundant robotic arm.

[0030] The information processing module is used to construct a collaborative handling optimization function for multiple mobile redundant robotic arm systems using the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence.

[0031] In the above scheme,

[0032] The information processing module is used to obtain the first weight parameter corresponding to the first correspondence;

[0033] The information processing module is used to obtain the second weight parameter corresponding to the second correspondence;

[0034] The information processing module is used to obtain the third weight parameter corresponding to the third correspondence;

[0035] The information processing module is used to obtain the fourth weight parameter corresponding to the fourth correspondence relationship;

[0036] The information processing module is used to adjust the collaborative handling optimization function of multiple mobile redundant robotic arm systems through the first weight parameter, the second weight parameter, the third weight parameter and the fourth weight parameter.

[0037] In the above scheme,

[0038] The information processing module is used to obtain the first constraint condition between the end effector velocity of the redundant robotic arm and the joint angular velocity of the redundant robotic arm.

[0039] The information processing module is used to obtain the second bundle condition for the consistency of the end-effector velocity of the redundant robotic arm;

[0040] The information processing module is used to obtain the third bundle condition for the consistency of the rotation angle of the transported object.

[0041] In the above scheme,

[0042] The information processing module is used to perform discrete-time distributed optimization of the cooperative transport optimization function based on a fixed step size using the end coordinates of the redundant robotic arm, based on the constraints, to obtain the optimal solution of the cooperative transport optimization function.

[0043] The information processing module is used to calculate the joint angular velocity of the redundant robotic arm, the speed of the mobile platform, and the rotational angular velocity of the transported object through the cooperative transport optimization function when the optimal solution of the cooperative transport optimization function is obtained.

[0044] In the above scheme,

[0045] The information processing module is used to obtain the distance between the mobile platform and the transported object through the camera component;

[0046] The information processing module is used to stop the mobile platform from moving when the distance between the mobile platform and the transported object is less than or equal to a distance threshold, and to adjust the position of the redundant robotic arm to achieve the effect of transporting the transported object.

[0047] This invention also provides an electronic device, comprising:

[0048] Memory, used to store executable instructions;

[0049] The processor, when executing executable instructions stored in the memory, implements either the preceding redundant robotic arm position adjustment method or the preceding redundant robotic arm position adjustment method.

[0050] This invention also provides a computer-readable storage medium storing executable instructions, characterized in that, when the executable instructions are executed by a processor, they implement a preceding redundant robotic arm position adjustment method, or implement a preceding redundant robotic arm position adjustment method.

[0051] The embodiments of the present invention have the following beneficial effects:

[0052] This invention calculates the end-effector coordinates of the redundant robotic arm based on its physical parameters and the motion parameters of the mobile platform. It then constructs a collaborative transport optimization function for multiple mobile redundant robotic arm systems based on the energy loss function and the operation adjustment function of the redundant robotic arm. The invention obtains the constraints of this collaborative transport optimization function. Based on these constraints, the collaborative transport optimization function is solved using the end-effector coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the mobile platform, and the rotational angular velocity of the transported object. The position of the redundant robotic arm is then adjusted using these angular velocities. This allows for accurate determination of the redundant robotic arm's position, reducing the occurrence of singularities and making the robotic arm more convenient for users. It also reduces the probability of joint damage and sensor malfunctions in the redundant robotic arm, while minimizing energy loss and making its movement more energy-efficient. Attached Figure Description

[0053] Figure 1 A schematic diagram illustrating the application environment of the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0054] Figure 2 A schematic diagram of the composition structure of an electronic device provided in an embodiment of the present invention;

[0055] Figure 3 A schematic flowchart of an optional method for adjusting the position of a redundant robotic arm provided in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the redundant robotic arm in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the redundant robotic arm system in an embodiment of the present invention;

[0058] Figure 6 A schematic flowchart of an optional method for adjusting the position of a redundant robotic arm provided in an embodiment of the present invention;

[0059] Figure 7 A schematic diagram of an optional scenario for the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0060] Figure 8 An optional effect diagram of the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0061] Figure 9 An optional effect diagram of the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0062] Figure 10 A schematic diagram illustrating the error convergence of the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0063] Figure 11 A schematic diagram of the change in the joint angular velocity of the redundant robotic arm in the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0064] Figure 12 A schematic diagram of the speed change of the moving platform in the redundant robotic arm position adjustment method provided in this embodiment of the invention;

[0065] Figure 13 A schematic diagram illustrating the change in the rotational angular velocity of the object being transported using the redundant robotic arm position adjustment method provided in this embodiment of the invention. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0068] In the implementation of this application, the collection and processing of relevant data should strictly comply with the requirements of relevant laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0069] Before providing a further detailed description of the embodiments of the present invention, the nouns and terms involved in the embodiments of the present invention will be explained, and the nouns and terms involved in the embodiments of the present invention shall be interpreted as follows.

[0070] 1) In response to, used to indicate the conditions or states on which the operation performed depends. When the conditions or states on which it depends are met, one or more operations performed may be performed in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations are performed.

[0071] 2) Collaborative handling: This refers to using multiple robots (redundant robotic arms) to support a target object. By coordinating the motion control between the robots, the consistency of the group's movement is ensured, thereby achieving the relocation of the target object.

[0072] 3) Client: A carrier in a terminal that implements specific functions. For example, a mobile client (APP) is a carrier of specific functions in a mobile terminal, such as a program that performs user gesture recognition.

[0073] 4) Redundant Robotic Arms: The concept of redundancy for robotic arms is relative and defined based on the specific task. For a planar task, a commonly used 6-axis (six degrees of freedom) robotic arm is redundant. However, in many cases, a redundancy approach can be adopted for all tasks because three-dimensional space can be described using six degrees of freedom. Therefore, a 7-axis (seven degrees of freedom) robotic arm is often called a redundant robotic arm, and for basic tasks, a 4-axis (four degrees of freedom) robotic arm can also be considered redundant. When the robotic arm has different joint angle configurations, the poses of each joint are different, but the end effector always has the same pose.

[0074] The method for adjusting the position of the redundant robotic arm provided in this application is introduced in conjunction with... Figure 1 The implementation environment shown briefly introduces the shortcomings of related technologies. Among these technologies, redundant robotic arms possess extra degrees of freedom in spatial motion, offering significant advantages in obstacle avoidance and motion planning. However, singularities can arise during motion planning in the control of redundant robotic arms. While redundant robotic arms exhibit high flexibility, they still encounter singular arm shapes in actual motion planning. When the robotic arm approaches a singular state, even a small displacement at the end effector can trigger severe joint vibrations, leading to joint damage and sensor malfunctions. Furthermore, the singular arm shapes caused by singularities increase the energy consumption of redundant robotic arms, resulting in resource waste and increased operating costs.

[0075] Figure 1 This is a schematic diagram illustrating a use case of the redundant robotic arm position adjustment method provided in this embodiment of the invention. The redundant robotic arm position adjustment method provided in this application can assist mechanical equipment in a production line to perform different tasks via robotic arms. (See also...) Figure 1The terminals (including terminals 10-1 and 10-2) are equipped with corresponding clients capable of performing different functions. These clients obtain different target locations and corresponding execution instructions from the corresponding server 200 via network 300, controlling the redundant robotic arm 400 to perform different tasks. The terminals connect to the server 200 via network 300, which can be a wide area network, a local area network, or a combination of both, using a wireless link for data transmission. The task types obtained by the terminals (including terminals 10-1 and 10-2) from the corresponding server 200 via network 300 can be the same or different. For example, the terminals (including terminals 10-1 and 10-2) can obtain cargo handling tasks from the corresponding server 200 via network 300, controlling the robot to complete preset standard grasping and placing action groups, thus realizing the robot's function of grasping and placing objects. The redundant robotic arm position adjustment method provided in this application is implemented by mounting a camera on a part outside the robotic arm and fixing it relative to the robot's base (world coordinate system), so that it does not move with the robot's movement. The steps are as follows: 1. Calculate the end-effector coordinates of the redundant robotic arm based on its physical parameters and the motion parameters of the mobile platform. 2. Construct a collaborative transport optimization function for multiple mobile redundant robotic arm systems based on the energy loss function and the operation adjustment function of the redundant robotic arm system. 3. Obtain the constraints of the collaborative transport optimization function. 4. Solve the collaborative transport optimization function using the end-effector coordinates of the redundant robotic arm based on the constraints to obtain the joint angular velocity of the redundant robotic arm, the velocity of the mobile platform, and the rotational angular velocity of the transported object. 5. Adjust the position of the redundant robotic arm using the joint angular velocity of the redundant robotic arm, the velocity of the mobile platform, and the rotational angular velocity of the transported object.

[0076] In this invention, embodiments can be implemented using cloud technology. Cloud technology refers to a hosting technology that unifies hardware, software, and network resources within a wide area network (WAN) or local area network (LAN) to achieve data computation, storage, processing, and sharing. It can also be understood as a general term for network technologies, information technologies, integration technologies, management platform technologies, and application technologies based on cloud computing business models. The backend services of network systems require substantial computing and storage resources, such as video websites, image websites, and many portal websites; therefore, cloud technology needs cloud computing as its support.

[0077] It's important to note that cloud computing is a computing model that distributes computing tasks across a resource pool comprised of numerous computers, enabling various application systems to access computing power, storage space, and information services as needed. The network providing these resources is called the "cloud." From the user's perspective, resources in the "cloud" are infinitely scalable, readily available, and can be used on demand, expanded at any time, and paid for based on usage. As the foundational providers of cloud computing capabilities, they establish cloud resource pool platforms, often referred to as cloud platforms or Infrastructure as a Service (IaaS). These platforms deploy various types of virtual resources within the resource pool for external customers to choose from. The cloud resource pool primarily includes: computing devices (which can be virtualized machines containing operating systems), storage devices, and network devices.

[0078] In conjunction with the embodiments Figure 1 As shown, the target object determination method provided in this embodiment of the invention can be implemented through corresponding cloud devices. For example, terminals (including terminals 10-1 and 10-2) connect to a server 200 located in the cloud via a network 300. The network 300 can be a wide area network (WAN), a local area network (LAN), or a combination of both. It is worth noting that the server 200 can be a physical device or a virtualized device.

[0079] The cloud-based device can also save the position parameters of the image acquisition device, the conversion parameters between the first and second position relationships, and the position of the robotic arm. This allows for timely retrieval of the position parameters saved by the cloud-based device in different application environments, saving adjustment time for the robotic arm.

[0080] Specifically, in conjunction with the preceding embodiments Figure 1 As shown, server 200 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. Terminals can be smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, etc., but are not limited to these. Terminals and servers can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0081] The structure of the electronic device according to an embodiment of the present invention will be described in detail below. The electronic device can be implemented in various forms, such as a dedicated robot with position adjustment function, or a robotic arm with position adjustment function, as described above. Figure 1 Server 200. Figure 2This is a schematic diagram of the composition structure of an electronic device provided in an embodiment of the present invention. It can be understood that... Figure 2 The diagram shows only an exemplary structure of the electronic device, not all of it; implementation is possible as needed. Figure 2 The structure shown may be part or all of the structure.

[0082] The electronic device provided in this embodiment of the invention includes at least one processor 201, a memory 202, a user interface 203, and at least one network interface 204. The various components in the electronic device 20 are coupled together via a bus system 205. It is understood that the bus system 205 is used to implement communication between these components. In addition to a data bus, the bus system 205 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 2 The general labeled all buses as Bus System 205.

[0083] The user interface 203 may include a monitor, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen.

[0084] It is understood that memory 202 can be volatile memory or non-volatile memory, or both. In this embodiment of the invention, memory 202 is capable of storing data to support the operation of a terminal (such as 10-1). Examples of this data include any computer programs used to operate on the terminal (such as 10-1), such as operating systems and applications. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications.

[0085] In some embodiments, the redundant robotic arm position adjustment device provided in this invention can be implemented using a combination of hardware and software. For example, the redundant robotic arm position adjustment device provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the redundant robotic arm position adjustment method provided in this invention. For instance, the processor in the form of a hardware decoding processor can employ one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0086] As an example of the redundant robotic arm position adjustment device provided in this embodiment of the invention, which is implemented using a combination of hardware and software, the redundant robotic arm position adjustment device provided in this embodiment of the invention can be directly embodied as a combination of software modules executed by processor 201. The software modules can be located in a storage medium, which is located in memory 202. Processor 201 reads the executable instructions included in the software modules in memory 202 and combines them with necessary hardware (e.g., including processor 201 and other components connected to bus 205) to complete the redundant robotic arm position adjustment method provided in this embodiment of the invention.

[0087] As an example, processor 201 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., wherein the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0088] As an example of the hardware implementation of the redundant robotic arm position adjustment device provided in this embodiment of the invention, the device provided in this embodiment of the invention can be directly executed by a processor 201 in the form of a hardware decoding processor. For example, it can be executed by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components to implement the redundant robotic arm position adjustment method provided in this embodiment of the invention.

[0089] In this embodiment of the invention, the memory 202 is used to store various types of data to support the operation of the electronic device 20. Examples of such data include: any executable instructions for operation on the electronic device 20, such as executable instructions that implement the method for adjusting the position of a redundant robotic arm according to this embodiment of the invention, which may be included in the executable instructions.

[0090] In other embodiments, the redundant robotic arm position adjustment device provided in this invention can be implemented in software. Figure 2A redundant robotic arm position adjustment device 2020 stored in memory 202 is shown. This device can be software in the form of programs and plug-ins, and includes a series of modules. As an example of a program stored in memory 202, it may include the redundant robotic arm position adjustment device 2020, which includes the following software modules:

[0091] The information transmission module 2081 is used to acquire the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform.

[0092] The information processing module 2082 is used to calculate the end coordinates of the redundant robotic arm based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform.

[0093] The information processing module 2082 is used to construct a collaborative handling optimization function for multiple mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm.

[0094] The information processing module 2082 is used to obtain the constraints of the cooperative transport optimization function.

[0095] The information processing module 2082 is used to solve the cooperative handling optimization function based on the constraints and the end coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0096] The information processing module 2082 is used to adjust the position of the redundant robotic arm by using the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0097] Combination Figure 2 The redundant robotic arm position adjustment device shown illustrates the redundant robotic arm position adjustment method provided in this embodiment of the invention. See also: Figure 3 , Figure 3 This is an optional flowchart illustrating the redundant robotic arm position adjustment method provided in an embodiment of the present invention. It can be understood that... Figure 3 The redundant robotic arm position adjustment method shown can be applied to the field of robot-assisted recognition to adjust the position of redundant robotic arms. Figure 3 The steps shown can be performed by various electronic devices that operate redundant robotic arm position adjustment devices, such as dedicated robots with position adjustment functions, medical robotic arms with human body examination functions, and redundant robotic arms with object handling functions. The following addresses... Figure 3 The steps shown are explained.

[0098] Step 301: The redundant robotic arm position adjustment device calculates the end coordinates of the redundant robotic arm in the mobile redundant robotic arm system based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform.

[0099] To better illustrate the position adjustment process of the redundant robotic arm, refer to... Figure 4 , Figure 4 This is a schematic diagram of the structure of a redundant robotic arm in an embodiment of the present invention. The joints of a seven-degree-of-freedom redundant robotic arm include: a shoulder joint, an elbow joint, and a wrist joint, as shown below. Figure 4 As shown, the shoulder joints (1, 2, and 3) can be considered as virtual spherical joints because these joint axes intersect at a single point. The elbow joints (3, 4, and 5) and wrist joints (5, 6, and 7) have the same structure. Furthermore, two adjacent joint axes are placed perpendicularly. Calculating the pose of each joint of the robot using the joint angles falls under the category of forward kinematics. In this embodiment, energy is used as the evaluation criterion, and the energy function of the redundant robot is constructed based on the unknown joint angles using a forward kinematics algorithm. It can be understood that the energy in this energy function can be real physical potential energy or virtual energy constructed according to actual needs. Exemplarily, the physical potential energy may include, but is not limited to, gravitational potential energy, gravity-compensated potential energy, etc.; the constructed virtual energy may include, but is not limited to, virtual repulsive potential energy generated by adding a potential field at the corresponding joint.

[0100] refer to Figure 5 , Figure 5 This is a schematic diagram of the redundant robotic arm system in an embodiment of the present invention. The mobile redundant robotic arm system includes a redundant robotic arm and a mobile platform. The mobile platform can be a nonholonomically constrained wheeled robot. In this case, the redundant robotic arm is mounted on the mobile platform, and the end effector of the redundant robotic arm is the bottom platform of the mobile redundant robotic arm system. Further, as... Figure 5 As shown, the mobile redundant robotic arm system also includes a camera assembly, which acquires the distance between the mobile platform and the transported object. When the distance between the mobile platform and the transported object is less than or equal to a distance threshold, the mobile platform stops moving and adjusts the position of the redundant robotic arm to achieve the effect of transporting the transported object. When the distance between the mobile platform and the transported object is greater than the distance threshold, the distance between the mobile platform and the transported object is adjusted by the drive wheels of the mobile platform.

[0101] In some embodiments of the present invention, the end-effector coordinates of the redundant robotic arm in the mobile redundant robotic arm system are calculated based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform. This can be achieved in the following ways:

[0102] Obtain the velocity parameters of the mobile platform and the joint angular velocities of the redundant manipulator; calculate the Jacobian matrix of the joint angular velocities of the redundant manipulator; based on the velocity parameters of the mobile platform, the joint angular velocities of the redundant manipulator, and the Jacobian matrix, calculate the velocity parameters of the end effector of the redundant manipulator; based on the joint angles of the redundant manipulator, the velocity parameters of the end effector of the redundant manipulator, and the position parameters of the mobile platform, calculate the end effector coordinates of the redundant manipulator, thus obtaining the end effector coordinates of the redundant manipulator in the mobile redundant manipulator system. This is achieved by combining the forward kinematics of the redundant manipulator with the position of the mobile platform. and redundant robotic arm joint angles The coordinates of the redundant robotic arm's end effector can be calculated using Formula 1.

[0103] Formula 1

[0104] in, It is a mapping from the joint space of the robotic arm to the task space of the robotic arm, which can be represented by Equation 2.

[0105] Formula 2

[0106] in, Let be the velocity of the mobile platform in the global coordinate system at time t. Let be the velocity of the bottom platform in the global coordinate system at time t. Let be the Jacobian matrix with respect to the joint angular velocity of the robotic arm. for The angular velocities of each joint of the robotic arm at any given time. It should be noted that the Jacobian matrix, in robot kinematics, mathematically represents the generalized transmission ratio or mapping relationship between the joint velocities of the redundant robotic arm and its operating speed.

[0107] Step 302: The redundant robotic arm position adjustment device constructs a collaborative handling optimization function for multiple mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm.

[0108] refer to Figure 6 , Figure 6 An optional flowchart illustrating the redundant robotic arm position adjustment method provided in this embodiment of the invention specifically includes the following steps:

[0109] Step 601: Obtain the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the transported object.

[0110] The energy loss function of the mobile redundant robotic arm system consists of three parts: the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the transported object. Therefore, it is necessary to use the joint angular velocity of the redundant robotic arm to characterize the joint kinetic energy function of the redundant robotic arm, the velocity of the mobile platform to characterize the kinetic energy function of the mobile platform, and the rotational angular velocity of the transported object to characterize the rotational kinetic energy function of the transported object.

[0111] Step 602: Calculate the first correspondence between the joint kinetic energy function of the redundant robotic arm and the joint angular velocity of the redundant robotic arm.

[0112] Step 603: Calculate the second correspondence between the kinetic energy function of the mobile platform and the speed of the mobile platform.

[0113] Step 604: Calculate the third correspondence between the rotational kinetic energy function of the transported object and the rotational angular velocity of the transported object.

[0114] Among them, for the objects being transported in collaborative transport, the rotational angular dimension of the objects being transported... angular velocity of rotation is The rotation matrix is:

[0115]

[0116] d i It is the vector from the centroid of the transported object to the end effector of the i-th redundant robotic arm. d i Rotation The subsequent vectors, , ,

[0117] Linearization at the origin yields the following formula 3:

[0118] = , formula 3

[0119] = ,

[0120] in .

[0121] Step 605: Calculate the Jacobian matrix of the joint angular velocity of the redundant robotic arm and the fourth correspondence between it and the operation adjustment function of the redundant robotic arm.

[0122] Step 606: Construct a collaborative handling optimization function for multiple mobile redundant robotic arm systems using the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence.

[0123] In some embodiments of the present invention, due to the different operating environments of redundant robotic arms, redundant robotic arms with different degrees of freedom need to be used for the collaborative transport of different objects. The objects to be transported may be lightweight precision instruments or heavy automotive parts. Therefore, the weight ratios of the first, second, third, and fourth correspondences in the collaborative transport optimization function are not the same. In order to provide a universal collaborative transport optimization function for different redundant robotic arms, it is also necessary to obtain the first weight parameter c1 corresponding to the first correspondence; the second weight parameter c2 corresponding to the second correspondence; the third weight parameter c3 corresponding to the third correspondence; and the fourth weight parameter c4 corresponding to the fourth correspondence. The collaborative transport optimization function of multiple mobile redundant robotic arm systems is adjusted by the first weight parameter c1, the second weight parameter c2, the third weight parameter c3, and the fourth weight parameter c4. Finally, with the energy loss of the redundant robotic arm system and the operability of the redundant robotic arm as optimization indicators, an objective function regarding the kinetic energy loss of the redundant robotic arm joints, the mobile platform, and the rotation of the object, as well as the operability of the redundant robotic arm, is established by formula 4:

[0124] Formula 4

[0125] in Describes the Euclidean norm. Let be the angular velocity of the i-th robotic arm joint. Let i be the speed of the i-th mobile platform. Let be the rotational angular velocity of the i-th transported object. , To ensure the operability of redundant robotic arms, , which is a weighting coefficient used to adjust the proportional relationship between the kinetic energy of the robotic arm joints, the kinetic energy of the moving platform, the rotational kinetic energy function of the transported object, and the operability of the redundant robotic arm.

[0126] After completing the construction of the collaborative handling optimization function for multiple mobile redundant robotic arm systems, proceed to step 303.

[0127] Step 303: The redundant robotic arm position adjustment device obtains the constraints of the collaborative handling optimization function.

[0128] In some embodiments of the present invention, the constraints of the cooperative transport optimization function include three parts: constraints on the joint angular velocity of the redundant robotic arm, constraints on the end effector of the redundant robotic arm, and constraints on the rotational angular velocity of the transported object.

[0129] Specifically, a first constraint condition can be obtained between the end effector velocity and the joint angular velocity of the redundant robotic arm, wherein the relationship between the end effector velocity and the joint angular velocity can be expressed by Equation 5:

[0130] Formula 5

[0131] in, Let be the velocity of the i-th robotic arm end effector in the global coordinate system at time t. Constraints imposed by the physical hardware also need to be considered, with the constraints referred to in Equations 6, 7, and 8:

[0132] Formula 6

[0133] Formula 7

[0134] , formula 8

[0135] in, and These represent the minimum and maximum allowable rotation angles of each joint of the robotic arm, respectively. and These represent the minimum and maximum positions that the mobile platform is allowed to reach, respectively, with a1 and a2 being the corresponding scaling factors, to dynamically update the feasible domain of the corresponding variables.

[0136] Then, the second bundle condition for the consistency of the end-effector velocity of the redundant robotic arm is obtained, wherein the second bundle condition for the consistency of the end-effector velocity of the redundant robotic arm can be expressed as Equation 9:

[0137]

[0138] Formula 9

[0139] By further simplifying Equation 9 using Equations 1-6, we can make... in , , , , , , in , , , , Let the Laplace matrix be the graph consisting of n redundant robotic arms. , like ,otherwise , The above constraints can be transformed into:

[0140] ,

[0141] , ,

[0142] Among them, constraints can be calculated based on the virtual leader-follower strategy. Based on the forward kinematics theory of redundant robotic arms, and combining the relative motion relationship between the redundant robotic arm and its end effector (i.e., the bottom platform), the change process of the position of the redundant robotic arm's end effector in the global Cartesian coordinate system is described. Subsequently, combining the kinematic relationship between displacement and time, the change process of the velocity of the moving platform in the global Cartesian coordinate system is described. The combination of the two gives the end effector coordinates of the redundant robotic arm in the mobile redundant robotic arm system based on the forward kinematics of the mobile redundant robotic arm system. Taking the center of mass of the transported object as the virtual leader position, the motion trajectory of the virtual leader is set, and the target position to be reached by the end effector is calculated based on the position of the virtual leader, thereby realizing the positioning of the end effector of the robotic arm on a specific trajectory.

[0143] Furthermore, to obtain a more concise constraint form, we can let

[0144] ,

[0145] ,

[0146] ,

[0147] ,

[0148] in, All are zero matrices. , It is a zero vector.

[0149] Finally, the third bundle condition for obtaining the consistency of the rotation angle of the transported object can be expressed as Equation 10:

[0150] Formula 10

[0151] Step 304: Based on the constraints, the redundant robotic arm position adjustment device uses the end coordinates of the redundant robotic arm to solve the cooperative handling optimization function, and obtains the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

[0152] In some embodiments of the present invention, when solving the cooperative transport optimization function using the end-effector coordinates of the redundant robotic arm, based on constraints 1-3, a discrete-time distributed optimization with a fixed step size can be performed on the cooperative transport optimization function to obtain the optimal solution of the cooperative transport optimization function. When the optimal solution of the cooperative transport optimization function is obtained, the joint angular velocities of the redundant robotic arm, the velocity of the moving platform, and the rotational angular velocity of the transported object are calculated using the cooperative transport optimization function. Using the virtual leader trajectory at the next moment as input, the discrete-time distributed optimization algorithm with a fixed step size can solve for the angular velocities of each joint of the robotic arm, the component velocities in each direction of the end-effector of the redundant robotic arm, and the rotational angular velocity of the transported object at the next moment, thereby achieving precise positioning of the virtual leader trajectory by the end-effector of the moving robotic arm.

[0153] Specifically, based on constraints 1-3, the collaborative handling optimization function can be optimized using the end-effector coordinates of the redundant robotic arm in a discrete-time distributed manner with a fixed step size. This can be combined with the calculation results of the preceding formula 1-10. This can be transformed into the following quadratic programming problem:

[0154]

[0155]

[0156] in, , This is the composite vector of the angular velocities of the redundant robotic arm joints, the velocity of the moving platform, and the rotational angular velocity of the object being transported. Therefore,

[0157] ,

[0158] Finally, a discrete-time distributed constraint optimization algorithm with a fixed step size is used to solve the problem. Its iterative format is as follows:

[0159] in, For the projection operator, F= , As dual variables, For fixed step size.

[0160] Step 305: The redundant robotic arm position adjustment device adjusts the position of the redundant robotic arm by measuring the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the object being transported.

[0161] The solution obtained using a discrete-time distributed constraint optimization algorithm with a fixed step size is as follows: Constant-time redundant robotic arm joint angular velocity Mobile platform speed and the rotational angular velocity of the transported object Then, the three speed values ​​mentioned above are input into the mobile redundant robotic arm system and executed. After execution, the real-time position of the robotic arm's end effector is read. Sampling is performed at time intervals of 0.01 seconds. Once all time points have been sampled, the redundant mobile robotic arm platform reaches the designated position, completing one adjustment of the redundant robotic arm's position.

[0162] To further verify the redundant robotic arm position adjustment method provided in the embodiments of the present invention, see [link to relevant documentation]. Figure 7 , Figure 7 This invention provides an optional scenario diagram illustrating the redundant robotic arm position adjustment method, wherein the number of mobile platforms... Dimension of the joint velocity vector of the redundant robotic arm Dimension of the position vector of the redundant robotic arm end effector They are respectively , The redundant robotic arm system can be denoted as robot1, robot2, and robot3. The initial angles of the three robotic arm joints are as follows: The lengths of the robotic arms are respectively The weighting coefficients are respectively for , for The initial rotation angle of the object is... The initial joint angular velocities of the robotic arm and the initial velocity of the moving platform are both random, and the initial position of the virtual leader is... The virtual leader's speed is Maximum and minimum speeds of mobile platforms The maximum and minimum angular velocities of the robotic arm joints are , angular velocity of the object's rotation , .

[0163] Figure 8 An optional effect diagram of the redundant robotic arm position adjustment method provided in this embodiment of the invention.

[0164] in, Figure 8 The diagram shows the real-time position of the redundant robotic arm end effector and the position of the transported object, as well as the initial and final positions of the redundant robotic arm and the transported object during collaborative handling. Triangles represent moving objects, and Figure 1 represents the mobile redundant robotic arm system. Three sine curves represent the trajectory of the redundant robotic arm end effector. The trajectory of the redundant robotic arm end effector matches the preset ideal trajectory characteristics, verifying the accuracy of the redundant robotic arm position adjustment method of this application.

[0165] Figure 9 An optional effect diagram of the redundant robotic arm position adjustment method provided in this embodiment of the invention is shown below. Figure 9 In the collaborative transport of objects in a triangular configuration, the trajectory of the virtual leader coincides with the trajectory of the object's center of mass, verifying the accuracy of the redundant robotic arm position adjustment method proposed in this application.

[0166] Figure 10 This invention provides a schematic diagram illustrating the error convergence of a redundant robotic arm position adjustment method. During execution of the redundant robotic arm position adjustment method, in... Within seconds, the error converged to the preset value of 0.02m, verifying the accuracy and real-time performance of the redundant robotic arm position adjustment method of this application using a discrete-time distributed constraint optimization algorithm with a fixed step size in real-time trajectory planning.

[0167] Figure 11 A schematic diagram of the angular velocity change of the redundant robotic arm joints in the redundant robotic arm position adjustment method provided in this embodiment of the invention is shown below. Figure 11 As shown, when the redundant robotic arm position adjustment method of this application is implemented, the joint angular velocity of the redundant robotic arm changes continuously and there is no problem of strange arm shape.

[0168] Figure 12 A schematic diagram of the moving platform speed change in the redundant robotic arm position adjustment method provided in this embodiment of the invention is shown below. Figure 12 As shown, when executing the redundant robotic arm position adjustment method of this application, the speed of the moving platform changes continuously, ensuring that the energy consumption of the redundant robotic arm is minimized.

[0169] Figure 13 A schematic diagram illustrating the change in the rotational angular velocity of the object being transported using the redundant robotic arm position adjustment method provided in this embodiment of the invention is shown below. Figure 12 As shown, when the redundant robotic arm position adjustment method of this application is executed, the rotational angular velocity of the transported object changes continuously and meets the set constraints, indicating that it can respond quickly according to the real-time status of the mobile redundant robotic arm system.

[0170] Beneficial technical effects:

[0171] This invention calculates the end-effector coordinates of the redundant robotic arm based on its physical parameters and the motion parameters of the mobile platform. It then constructs a collaborative transport optimization function for multiple mobile redundant robotic arm systems based on the energy loss function and the operation adjustment function of the redundant robotic arm. The invention obtains the constraints of this collaborative transport optimization function. Based on these constraints, the collaborative transport optimization function is solved using the end-effector coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the mobile platform, and the rotational angular velocity of the transported object. The position of the redundant robotic arm is then adjusted using these angular velocities. This allows for accurate determination of the redundant robotic arm's position, reducing the occurrence of singularities and making the robotic arm more convenient for users. It also reduces the probability of joint damage and sensor malfunctions in the redundant robotic arm, while minimizing energy loss and making its movement more energy-efficient.

[0172] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adjusting the position of a redundant robotic arm, the method being applied to a mobile redundant robotic arm system, the mobile redundant robotic arm system comprising: A redundant robotic arm and mobile platform, characterized in that the method includes: The end-effector coordinates of the redundant robotic arm are calculated based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform. Based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm, a cooperative handling optimization function for multiple mobile redundant robotic arm systems is constructed. The energy loss function includes the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the object being transported. The operation adjustment function is a function that characterizes the inner product relationship between the operability gradient of the redundant robotic arm and the joint angular velocity of the redundant robotic arm to be solved. Obtain the constraints of the cooperative transport optimization function; Based on the constraints, the collaborative handling optimization function is solved using the end-effector coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object. The position of the redundant robotic arm is adjusted by the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the object being transported.

2. The method according to claim 1, characterized in that, The step of calculating the end-effector coordinates of the redundant robotic arm based on its physical parameters and the motion parameters of the mobile platform includes: Obtain the speed parameters of the mobile platform and the joint angular velocity of the redundant robotic arm; Calculate the Jacobian matrix of the joint angular velocities of the redundant robotic arm; Calculate the velocity parameters of the end effector of the redundant robotic arm based on the velocity parameters of the mobile platform, the joint angular velocity of the redundant robotic arm, and the Jacobian matrix. Based on the joint angles of the redundant robotic arm, the velocity parameters of the end effector of the redundant robotic arm, and the position parameters of the mobile platform, the end effector coordinates of the redundant robotic arm are calculated to obtain the end effector coordinates of the redundant robotic arm in the mobile redundant robotic arm system.

3. The method according to claim 1, characterized in that, The step involves constructing a collaborative handling optimization function for multiple mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm, including: Obtain the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the transported object; Calculate the first correspondence between the joint kinetic energy function of the redundant robotic arm and the joint angular velocity of the redundant robotic arm; Calculate the second correspondence between the kinetic energy function of the mobile platform and the velocity of the mobile platform; Calculate the third correspondence between the rotational kinetic energy function of the transported object and the rotational angular velocity of the transported object; Calculate the Jacobian matrix of the joint angular velocities of the redundant robotic arm and the fourth correspondence between it and the operation adjustment function of the redundant robotic arm; A collaborative handling optimization function for multiple mobile redundant robotic arm systems is constructed using the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence.

4. The method according to claim 3, characterized in that, The method further includes: Obtain the first weight parameter corresponding to the first correspondence; Obtain the second weight parameter corresponding to the second correspondence; Obtain the third weight parameter corresponding to the third correspondence; Obtain the fourth weight parameter corresponding to the fourth correspondence; The collaborative handling optimization function of multiple mobile redundant robotic arm systems is adjusted by the first weight parameter, the second weight parameter, the third weight parameter, and the fourth weight parameter.

5. The method according to claim 1, characterized in that, The step of obtaining the constraints of the cooperative transport optimization function includes: Obtain the first constraint condition for the end effector velocity of the redundant robotic arm and the joint angular velocity of the redundant robotic arm; Obtain the second bundle condition for the consistency of the end-effector velocity of the redundant robotic arm; Obtain the third bundle condition for the consistency of the rotation angle of the transported object.

6. The method according to claim 1, characterized in that, Based on the constraints, the cooperative handling optimization function is solved using the end-effector coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the velocity of the moving platform, and the rotational angular velocity of the transported object, including: Based on the constraints, the optimal solution of the cooperative transport optimization function is obtained by performing discrete-time distributed optimization based on a fixed step size using the end coordinates of the redundant robotic arm. When the optimal solution of the cooperative transport optimization function is obtained, the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object are calculated using the cooperative transport optimization function.

7. The method according to claim 1, characterized in that, The mobile redundant robotic arm system further includes a camera assembly, and the method further includes: The distance between the mobile platform and the transported object is obtained through the camera component; When the distance between the mobile platform and the object being transported is less than or equal to a distance threshold, the mobile platform stops moving and adjusts the position of the redundant robotic arm to achieve the effect of transporting the object.

8. A redundant robotic arm position adjustment device, characterized in that, The device includes: The information transmission module is used to acquire the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform; The information processing module is used to calculate the end coordinates of the redundant robotic arm based on the physical parameters of the redundant robotic arm and the motion parameters of the mobile platform. The information processing module is used to construct a collaborative handling optimization function for multiple mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operation adjustment function of the redundant robotic arm. The energy loss function includes the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the object being transported. The operation adjustment function is a function that characterizes the inner product relationship between the operability gradient of the redundant robotic arm and the joint angular velocity of the redundant robotic arm to be solved. The information processing module is used to obtain the constraints of the cooperative transport optimization function; The information processing module is used to solve the cooperative handling optimization function based on the constraints and the end coordinates of the redundant robotic arm to obtain the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object. The information processing module is used to adjust the position of the redundant robotic arm by using the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object.

9. The apparatus according to claim 8, characterized in that, The information processing module is also used to acquire the speed parameters of the mobile platform and the joint angular velocity of the redundant robotic arm; Calculate the Jacobian matrix of the joint angular velocities of the redundant robotic arm; calculate the velocity parameters of the end effector of the redundant robotic arm based on the velocity parameters of the mobile platform, the joint angular velocities of the redundant robotic arm, and the Jacobian matrix. Based on the joint angles of the redundant robotic arm, the velocity parameters of the end effector of the redundant robotic arm, and the position parameters of the mobile platform, the end effector coordinates of the redundant robotic arm are calculated to obtain the end effector coordinates of the redundant robotic arm in the mobile redundant robotic arm system.

10. The apparatus according to claim 8, characterized in that, The information processing module is further configured to acquire the joint kinetic energy function of the redundant robotic arm, the kinetic energy function of the mobile platform, and the rotational kinetic energy function of the transported object; and to calculate a first correspondence between the joint kinetic energy function of the redundant robotic arm and the joint angular velocity of the redundant robotic arm. Calculate the second correspondence between the kinetic energy function of the mobile platform and the velocity of the mobile platform; Calculate the third correspondence between the rotational kinetic energy function of the transported object and the rotational angular velocity of the transported object; Calculate the Jacobian matrix of the joint angular velocities of the redundant robotic arm and the fourth correspondence between it and the operation adjustment function of the redundant robotic arm; A collaborative handling optimization function for multiple mobile redundant robotic arm systems is constructed using the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence.

11. The apparatus according to claim 10, characterized in that, The information processing module is further configured to obtain a first weight parameter corresponding to the first correspondence; obtain a second weight parameter corresponding to the second correspondence; obtain a third weight parameter corresponding to the third correspondence; obtain a fourth weight parameter corresponding to the fourth correspondence; and adjust the collaborative handling optimization function of multiple mobile redundant robotic arm systems through the first weight parameter, the second weight parameter, the third weight parameter, and the fourth weight parameter.

12. The apparatus according to claim 8, characterized in that, The information processing module is further configured to obtain a first constraint condition for the end-effector velocity of the redundant robotic arm and the joint angular velocity of the redundant robotic arm; obtain a second constraint condition for the consistency of the end-effector velocity of the redundant robotic arm; and obtain a third constraint condition for the consistency of the rotation angle of the transported object.

13. The apparatus according to claim 8, characterized in that, The information processing module is further configured to perform discrete-time distributed optimization of the cooperative transport optimization function based on a fixed step size using the end coordinates of the redundant robotic arm, based on the constraints, to obtain the optimal solution of the cooperative transport optimization function; when the optimal solution of the cooperative transport optimization function is obtained, the joint angular velocity of the redundant robotic arm, the speed of the moving platform, and the rotational angular velocity of the transported object are calculated through the cooperative transport optimization function.

14. The apparatus according to claim 8, characterized in that, The mobile redundant robotic arm system also includes: a camera assembly. The information processing module is also used to obtain the distance between the mobile platform and the transported object through the camera component; when the distance between the mobile platform and the transported object is less than or equal to a distance threshold, the mobile platform stops moving and the position of the redundant robotic arm is adjusted to achieve the effect of transporting the transported object.

15. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable instructions; The processor, when executing executable instructions stored in the memory, implements the redundant robotic arm position adjustment method according to any one of claims 1 to 7.

16. A software program product, characterized in that, The software program product includes computer-executable instructions, which, when executed by a processor, implement the redundant robotic arm position adjustment method according to any one of claims 1 to 7.

17. A computer-readable storage medium storing executable instructions, characterized in that, When the executable instructions are executed by the processor, they implement the redundant robotic arm position adjustment method according to any one of claims 1 to 7.

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