A method and system for constructing a contact-impact dynamic model of a tensegrity structure

Abstract

The application discloses a method and system for constructing a tensegrity dynamic model of contact collision, and belongs to the field of tensegrity robot technology. The method comprises the following steps: based on the contact collision process of a tensegrity robot node and an environmental surface, establishing an equation constraint of the contact collision process; based on the contact collision process of the tensegrity robot node and the environmental surface, acquiring normal contact force data, and establishing a contact force model according to the normal contact force data; based on the contact collision process of the tensegrity robot node and the environmental surface, and according to the Lagrange equation of a complete system under non-conservative force action, establishing a basic dynamic model; and comprehensively establishing a tensegrity robot dynamic model under the contact collision condition by comprehensively combining the equation constraint of the contact collision process, the contact force model and the dynamic equation. The application solves the problem of inconsistent dynamic models caused by the switching of contact conditions in the movement process of the robot.

Description

Technical Field

[0001] This invention belongs to the field of tensioning integral robot technology, specifically relating to a method and system for constructing a dynamic model of a tensioning integral robot based on contact and collision. Background Technology

[0002] Establishing an accurate and effective dynamic model is the foundation for motion control of tensioning integral robots. Scholars have conducted extensive research on dynamic modeling techniques for tensioning integral robots and have proposed various dynamic modeling methods for tensioning integral robots based on the Lagrange equation, the Newton-Euler equation, and the finite element method.

[0003] During the movement of the tensioning robot, it will come into contact with and collide with the external environment. Therefore, it is necessary to consider both the dynamic characteristics of the tensioning robot itself and the contact and collision issues between it and the external environment.

[0004] Currently, the existing dynamic models for the motion of tensioning monolithic robots are all discontinuous. It is necessary to first establish separate dynamic models for the robot in contact with the environment and for when no contact occurs, and then combine the two parts using contact determination conditions to obtain the dynamic model for the robot's motion. However, tensioning monolithic robots often require frequent switching between contact and non-contact states during motion. Therefore, it is impossible to establish a continuous and unified closed-loop control framework for the motion of the tensioning monolithic robot using the aforementioned discontinuous dynamic models. The inconsistency in the dynamic model caused by the continuous switching of contact conditions during robot motion leads to low efficiency in planning the robot's motion path. Summary of the Invention

[0005] To address the problems of existing technologies, such as the inability to establish a continuous and unified closed-loop control framework for the motion of a tensioned robot through discontinuous dynamic models, and the inconsistency in dynamic models caused by the continuous switching of contact conditions during robot motion, resulting in low efficiency in robot motion path planning, this invention provides a method for constructing a contact and collision-based dynamic model for a tensioned robot. This method overcomes the inconsistency problem caused by the continuous switching of contact conditions during robot motion, improves the efficiency of robot motion path planning, and makes the robot's motion path smoother.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A method for constructing a tensional overall dynamic model of contact collisions includes:

[0008] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, an equality constraint for the contact and collision process is established.

[0009] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental curved surface, normal contact force data is obtained, and a contact force model is established based on the normal contact force data;

[0010] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and according to the Lagrange equation of the complete system under non-conservative forces, a basic dynamic model is established.

[0011] By integrating the equality constraints, contact force model, and dynamic equations of the contact and collision process, a dynamic model of the tensioning integral robot under contact and collision conditions is established.

[0012] As a further improvement of the present invention, the contact and collision process between the tensioning integral robot node and the environmental curved surface includes states where the tensioning integral robot node and the environmental curved surface come into contact and states where no contact occurs;

[0013] When the nodes of the tensioning robot do not come into contact with the environmental surface, the normal contact force is 0;

[0014] When the nodes of the tensioning robot come into contact with the environmental surface, the normal contact force is greater than or equal to 0.

[0015] As a further improvement of the present invention, the equation form of the equality constraint of the contact collision process is as follows:

[0016]

[0017] Among them, g i λ is the collision distance; Ni It is the normal contact force.

[0018] As a further improvement of the present invention, the contact and collision process between the tensioned integral robot node and the environmental surface is based on the Hertz continuous contact force model to calculate the normal contact force at the tensioned integral robot node when a contact and collision occurs.

[0019] As a further improvement of the present invention, the basic dynamic model is established by selecting the coordinates of the center of mass and the attitude quaternions of the rod component as generalized coordinates based on the Lagrange equation of the complete system under non-conservative force.

[0020] As a further improvement of the present invention, the differential algebraic equations for establishing the dynamic model of the tensioning integral robot under contact collision conditions are as follows:

[0021]

[0022] Φ(q)=O

[0023]

[0024]

[0025] Among them, T e For the kinetic energy of the tensioning robot; U g Q represents the gravitational potential energy of the tensioning robot. N The generalized contact force Q represents the contact collision process between the nodes and the contact surface of the tensioning robot. f Q represents the generalized frictional force during the contact and collision process between the nodes and the contact surface of the tensioning robot. e δ is the generalized force corresponding to the tension of the cable components of the tensioning robot; i For node n i relative to the environment surface S along Embedding depth of direction; λ Ni For normal contact force; g i Φ(q) represents the collision distance; Φ(q) represents the complete constraint of the generalized coordinates of the tensioning integral robot rod component; and λ represents the corresponding Lagrange multiplier.

[0026] As a further improvement of the present invention, the matrix form of the dynamic model of the tensioning integral robot is as follows:

[0027]

[0028]

[0029] Φ(q)=O

[0030] G(q,δ,λ N ) = O

[0031] Where Φ(q) is the complete constraint of the generalized coordinates of the tensioning integral robot rod component, and λ is the corresponding Lagrange multiplier.

[0032] A system for constructing a tensional overall dynamic model of contact collisions includes:

[0033] The equality constraint module is used to establish equality constraints for the contact and collision process between nodes of the tensioned integral robot and the environmental surface.

[0034] The contact force model module is used to obtain normal contact force data based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and to establish a contact force model based on the normal contact force data.

[0035] The module for establishing a basic dynamic model is used to establish a basic dynamic model based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and based on the Lagrange equation of the complete system under non-conservative forces.

[0036] The module for establishing the dynamic model of the tensioning robot is used to integrate the equality constraints, contact force model and dynamic equations of the contact and collision process to establish the dynamic model of the tensioning robot under contact and collision conditions.

[0037] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of a method for constructing a tensioned overall dynamic model of contact collision.

[0038] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a method for constructing a tensioned overall dynamic model of contact collision.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] This invention overcomes the inconsistency in dynamic models caused by the continuous switching of contact conditions during robot motion. Based on the Lagrange equations of the complete system under non-conservative forces, it establishes a consistent dynamic model of the tensioned integral robot under contact and collision conditions. This model can describe the contact and collision motion process between the tensioned integral robot and its external environment without determining the contact conditions, laying the foundation for closed-loop control of the tensioned integral robot's motion. It has good scalability, allowing multiple collision contact surfaces to be added to the contact friction model, realizing dynamic modeling of the tensioned integral robot under multi-contact surface conditions. The model established by this invention makes the robot's motion path smoother. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the method for constructing a tensioned overall dynamic model of contact collision according to the present invention;

[0042] Figure 2 This is a schematic diagram illustrating the geometric configuration and ground coordinate system definition of the six-bar tensioning integrated robot of the present invention;

[0043] Figure 3 This invention provides a flowchart for the dynamic modeling of the differential algebraic equations of a tensioned integral robot considering contact collisions.

[0044] Figure 4 This is a diagram showing the relationship between the nodes of the overall tensioning robot of the present invention and the environmental curved surface at the moment when no contact occurs;

[0045] Figure 5 This is a diagram showing the relationship between the contact times between the nodes of the tensioning robot of this invention and the environmental curved surface;

[0046] Figure 6This is a schematic diagram of the system structure for constructing a tensioned overall dynamic model of contact collision according to the present invention;

[0047] Figure 7 This is a schematic diagram of the electronic device structure according to a preferred embodiment of the present invention. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0049] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0050] To address the current limitations of existing methods that fail to establish a continuous and unified closed-loop control framework for the motion of a tensioned monolithic robot using discontinuous dynamic models, and the inconsistency in dynamic models caused by the continuous switching of contact conditions during robot motion, resulting in low efficiency in robot motion path planning, this invention provides a dynamic model of a tensioned monolithic robot in the form of differential-algebraic equations under contact and collision conditions. This invention describes the complementary relationship between the tensioned monolithic robot and its environment during contact and collision using equality constraints, resolving the problem of discontinuous dynamic models caused by the need to determine contact conditions in traditional contact and collision modeling methods, and establishing a unified dynamic model of a tensioned monolithic robot under contact and collision conditions.

[0051] like Figure 1 As shown, a method for constructing a tensional overall dynamic model of contact collision includes:

[0052] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, an equality constraint for the contact and collision process is established.

[0053] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental curved surface, normal contact force data is obtained, and a contact force model is established based on the normal contact force data;

[0054] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and according to the Lagrange equation of the complete system under non-conservative forces, a dynamic model is established.

[0055] By integrating the equality constraints, contact force model, and dynamic equations of the contact and collision process, a dynamic model of the tensioning integral robot under contact and collision conditions is established.

[0056] This method overcomes the problem of inconsistent dynamic models caused by the continuous switching of contact conditions during robot movement, improves the efficiency of robot motion path planning, and makes the robot's motion path smoother.

[0057] The present invention will now be described in detail with reference to the accompanying drawings:

[0058] The present invention will now be described in further detail with reference to the accompanying drawings.

[0059] Figure 2 This document defines the geometric configuration and ground coordinate system of a six-bar tensioning monolithic robot. The robot is an icosahedral structure composed of 6 bars and 24 cables, built based on the principle of monolithic tensioning. All six bars have the same length and mass, and there are 12 nodes, n1, n2, n3…n. 12 The robot will come into contact with and collide with the curved surfaces of the environment during its movement. For example... Figure 2 As shown, the axes of the ground coordinate system O-xyz are defined to be stationary relative to the horizontal ground. The origin is chosen as a fixed point on the horizontal ground. The x-axis is horizontal to the left, the z-axis is vertical to the up, and the direction of the y-axis can be determined by the right-hand rule.

[0060] based on Figure 2 As shown in the diagram, this invention proposes a method for establishing a dynamic model of a tensioned integral robot in the form of differential-algebraic equations under contact and collision conditions. Figure 3 As shown, the specific steps are as follows:

[0061] S1: Describe the contact and collision process between the nodes of the tensioning robot and the environmental surface based on the complementary relationship, and transform it into equality constraints.

[0062] The node n of the tensioning robot i The contact and collision process with the environmental curved surface S is as follows Figure 4 and Figure 5 As shown.

[0063] Figure 4 p is the time when no contact has occurred. * For the current moment, the surface S intersects with node n. i The closest one, For surface S in p * The unit normal vector at that location, For surface S in p * The unit tangent vector at point n, its direction is the same as n. i Relative to p * The velocities are in opposite directions. Defined by p * Pointing to n i The vector is d n di For d n along The projection, i.e. The magnitude of the normal contact force λ when no contact occurs Ni And the magnitude of tangential friction force f i It is 0.

[0064] Figure 5 At the moment of contact and collision, p * For the contact point, δ i For node n i relative to the environment surface S along Embedding depth of direction, when n i When there is no contact or collision with S, δ i =0. During the contact and collision process, node n i The force can be decomposed into forces along the normal direction of the contact surface. Normal contact force λ Ni and along the tangential direction of the contact surface Tangential frictional force f i .

[0065] During the motion of the tensioning robot, node n i There are two contact / collision states with the curved surface S: contact and no contact. For example... Figure 4 As shown, when node n i When there is no contact or collision with the curved surface S, d i >0, δ i =0, normal contact force λ Ni =0; for example Figure 5 As shown, when node n i When in contact with the curved surface S, d i =-δ i Normal contact force λ Ni ≥0. Define the collision distance g. i =d i +δ i According to the above description g i With λ Ni The following complementary relationships exist:

[0066] g i ≥0,λ Ni ≥0,g i λ Ni =0 (1)

[0067] The complementary relationship described by formula (1) can be equivalently expressed as an equation:

[0068]

[0069] S2: Calculate node n when a contact collision occurs, based on the Hertzian continuous contact force model. i Normal contact force at the point.

[0070] The direction of the normal contact force is along the normal direction of the contact surface. According to Hertz's continuous contact force model, the magnitude of the normal contact force λ Ni It can be represented as:

[0071]

[0072] Where K is the collision stiffness coefficient, D is the collision damping coefficient, and n is the nonlinear power exponent determined by the material and geometric properties of the collision contact area.

[0073] S3: Calculate node n based on the continuous friction model. i Tangential friction at the point.

[0074] The direction of the tangential frictional force is along the tangential vector of the contact surface. According to the continuous friction model, the magnitude of the tangential friction force f i It can be represented as:

[0075]

[0076] Where, k s Here, μ is the coefficient of the continuous friction model, and v is the coefficient of friction of the contact surface. r For node n i Relative to p * Magnitude of relative velocity along the tangential direction of the contact surface

[0077] S4: Calculate the kinetic energy, gravitational potential energy, and elastic potential energy of the tensioning robot.

[0078] Kinetic energy T of the tensioning robot e and gravitational potential energy U g It can be represented as:

[0079]

[0080]

[0081] Where m is the mass of the rod member, and I is the moment of inertia matrix of the rod member. Let ω be the velocity vector of the center of mass of member j. j Let g be the angular velocity vector of member j; g be the acceleration due to gravity; z be the angular velocity vector of member j. j Let j be the height of the center of mass of the rod component.

[0082] S5: Based on the Lagrange equations of the complete system under non-conservative forces, establish a dynamic model of the tensioning robot.

[0083] Based on the Lagrange equations of the complete system under non-conservative forces, and selecting the generalized coordinate q as the coordinates of the centroids of its six rod components and their attitude quaternions, the dynamic model of the tensioning robot is as follows:

[0084]

[0085] Φ(q)=O (6)

[0086] Among them, Q N For the contact collision process between the nodes of the tensioning robot and the contact surface, the generalized contact force of each node can be expressed by the formula... Where F c Let n be the normal contact force vector. i For node n in the ground coordinate system i The coordinates of the points are given by summing the generalized contact forces at all 12 nodes to obtain Q. N .

[0087] Q f The generalized frictional force during the contact and collision process between the nodes and the contact surface of the tensioning robot can be expressed by the formula: Calculate, where F is the value of F. f Tangential friction force vector, n i For node n in the ground coordinate system i The coordinates of the points are given by summing the generalized frictional forces at all 12 nodes to obtain Q. f .

[0088] Q e The generalized force corresponding to the tension of the overall robot cable component can be expressed by the formula. Where F e Let n be the tension vector of the cable member. i For node n in the ground coordinate system i The coordinates of the points are given by summing the generalized forces acting on all 12 nodes to obtain Q. e .

[0089] Φ(q) represents the complete constraint of the generalized coordinates of the tensioning integral robot link components, and λ represents the corresponding Lagrange multiplier. Specifically, the complete constraint of the tensioning integral robot link components is that the sum of the squares of the quaternions of each link component is equal to 1, and the axial rotation angle of each link component is equal to 0.

[0090] S6: By integrating the equality constraints of the contact and collision process, the contact force model, and the dynamic equations, a dynamic model of the tensioning integral robot under contact and collision conditions in the form of differential algebraic equations is established.

[0091] Integrated tensioning robot nodes n1, n2, n3…n 12 The contact and collision relationship formula (2) with the environmental surface, nodes n1, n2, n3…n 12 The contact force model formula (3) with the environmental curved surface and the dynamic model formula (6) of the tensioning integral robot can be used to obtain the complete dynamic model of the tensioning integral robot under contact collision conditions in the form of differential algebraic equations:

[0092]

[0093] Φ(q)=O

[0094]

[0095]

[0096] The dynamic model of the tensioning integral robot shown in formula (7) consists of 54 differential equations and 24 algebraic equations. After calculation and simplification, the matrix-form dynamic model of the tensioning integral robot under contact and collision conditions is as follows:

[0097]

[0098]

[0099] Φ(q)=O

[0100] G(q,δ,λ N )=O (8)

[0101] In summary, to overcome the model discontinuity problem caused by existing modeling methods in the closed-loop control of the motion of a tensioned monolithic robot, this invention provides a dynamic model for constructing a tensioned monolithic robot based on contact and collision. This invention describes the contact and collision between the robot and its environment through complementary relationships, and equates these relationships to equality constraints, thereby transforming the contact and collision problem into complete constraints in the dynamic equations. A dynamic model of the tensioned monolithic robot in the form of differential algebraic equations is established using the Lagrange equations of the complete system. Through this method, this invention can unify the dynamic models of the robot in contact with and without contact with the environment, without switching based on contact conditions, and establish a dynamic model of the tensioned monolithic robot in the form of differential algebraic equations.

[0102] like Figure 6 As shown, the second objective of this invention is to propose a system for constructing a tensional overall dynamic model of contact collision, comprising:

[0103] The equality constraint module is used to establish equality constraints for the contact and collision process between nodes of the tensioned integral robot and the environmental surface.

[0104] The contact force model module is used to obtain normal contact force data based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and to establish a contact force model based on the normal contact force data.

[0105] The module for establishing a basic dynamic model is used to establish a basic dynamic model based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and based on the Lagrange equation of the complete system under non-conservative forces.

[0106] The module for establishing the dynamic model of the tensioning integral robot is used to integrate the equality constraints, contact force model, and dynamic equations of the contact and collision process to establish the dynamic model of the tensioning integral robot under contact and collision conditions.

[0107] like Figure 7 As shown, a third objective of the present invention is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for constructing a tensioned overall dynamic model of contact collision.

[0108] The method for constructing a tensional overall dynamic model of contact collision includes the following steps:

[0109] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, an equality constraint for the contact and collision process is established.

[0110] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental curved surface, normal contact force data is obtained, and a contact force model is established based on the normal contact force data;

[0111] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and according to the Lagrange equation of the complete system under non-conservative forces, a basic dynamic model is established.

[0112] By integrating the equality constraints, contact force model, and dynamic equations of the contact and collision process, a dynamic model of the tensioning integral robot under contact and collision conditions is established.

[0113] A fourth objective of this invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for constructing a tensioned overall dynamic model of contact collision.

[0114] The method for constructing a tensional overall dynamic model of contact collision includes the following steps:

[0115] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, an equality constraint for the contact and collision process is established.

[0116] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental curved surface, normal contact force data is obtained, and a contact force model is established based on the normal contact force data;

[0117] Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and according to the Lagrange equation of the complete system under non-conservative forces, a basic dynamic model is established.

[0118] By integrating the equality constraints, contact force model, and dynamic equations of the contact and collision process, a dynamic model of the tensioning integral robot under contact and collision conditions is established.

[0119] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for constructing a tensioned overall dynamic model of contact collision, characterized in that, include: Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, an equality constraint for the contact and collision process is established. Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental curved surface, normal contact force data is obtained, and a contact force model is established based on the normal contact force data; Based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and according to the Lagrange equation of the complete system under non-conservative forces, a basic dynamic model is established. Based on the equality constraints, contact force model and dynamic equations of the contact and collision process, a dynamic model of the tensioning robot under contact and collision conditions is established. The contact and collision process between the nodes of the tensioning robot and the environmental surface exists in both the state where the nodes of the tensioning robot are in contact with the environmental surface and the state where no contact occurs. When the nodes of the tensioning robot do not come into contact with the environmental surface, the normal contact force is 0; When the nodes of the tensioning robot come into contact with the environmental surface, the normal contact force is greater than or equal to 0.

2. The method for constructing a tensioned overall dynamic model of contact collision according to claim 1, characterized in that, The equation form of the equality constraint for the contact collision process is as follows: in, This refers to the collision distance. It is the normal contact force.

3. The method for constructing a tensioned overall dynamic model of contact collision according to claim 1, characterized in that, The contact and collision process between the tensioned integral robot node and the environmental surface is described, and the normal contact force at the tensioned integral robot node is calculated according to the Hertz continuous contact force model.

4. The method for constructing a tensioned overall dynamic model of contact collision according to claim 1, characterized in that, Based on the Lagrange equations of the complete system under non-conservative forces, the coordinates of the center of mass and the attitude quaternions of the rod component are selected as generalized coordinates to establish a basic dynamic model.

5. The method for constructing a tensioned overall dynamic model of contact collision according to claim 1, characterized in that, The differential algebraic equations for establishing the dynamic model of the tensioning integral robot under contact and collision conditions are as follows: in, The kinetic energy for tensioning the entire robot; The gravitational potential energy of the tensioning robot; The generalized contact force is the force used in the contact collision process between the nodes and the contact surface of the tensioning robot. The generalized frictional force during the contact and collision process between the nodes and the contact surface of the tensioning robot; The generalized force corresponding to the tension force of the overall cable component of the tensioning robot; For nodes Relative to the environment surface along Embedding depth of direction; Normal contact force; This refers to the collision distance. For the complete constraints of the generalized coordinates of the tensioning integral robot rod components, For the corresponding Lagrange multipliers.

6. The method for constructing a tensioned overall dynamic model of contact collision according to claim 5, characterized in that, The matrix form of the overall tensioning robot dynamics model is as follows: in, For the complete constraints of the generalized coordinates of the tensioning integral robot rod components, For the corresponding Lagrange multipliers.

7. A system for constructing a tensioned overall dynamic model of contact collision, based on the method for constructing a tensioned overall dynamic model of contact collision according to any one of claims 1-6, characterized in that, include: The equality constraint module is used to establish equality constraints for the contact and collision process between nodes of the tensioned integral robot and the environmental surface. The contact force model module is used to obtain normal contact force data based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and to establish a contact force model based on the normal contact force data. The module for establishing a basic dynamic model is used to establish a basic dynamic model based on the contact and collision process between the nodes of the tensioned integral robot and the environmental surface, and based on the Lagrange equation of the complete system under non-conservative forces. The module for establishing the dynamic model of the tensioning robot is used to integrate the equality constraints, contact force model and dynamic equations of the contact and collision process to establish the dynamic model of the tensioning robot under contact and collision conditions.

8. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method for constructing a tensioned overall dynamic model of contact collision as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for constructing a tensioned overall dynamic model of contact collision as described in any one of claims 1-6.

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