Force control method and device of mechanical arm, electronic equipment, mechanical arm and medium

Abstract

The present disclosure provides a force control method and device of a mechanical arm, an electronic device, a mechanical arm and a medium. The method comprises: determining expected position information and expected speed information of a joint model, determining first actual position information and first actual speed information of an arm joint, determining second actual position information of the joint model according to a transmission ratio and the first actual position information, and determining second actual speed information of the joint model according to the transmission ratio and the first actual speed information, and determining a target control torque of a driving motor according to the expected position information, the expected speed information, the second actual position information and the second actual speed information. Through the present disclosure, the force control effect for the arm joint in the differential transmission control process can be effectively improved, and the force control accuracy can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent robot technology, and in particular to a force control method, device, electronic device, robotic arm, and medium for a robotic arm. Background Technology

[0002] The control of robotic arm joints can be divided into position control and force control. Position control refers to sending position commands generated by the controller to the actuators of the arm joints to achieve precise position tracking. It is commonly used in industrial scenarios, such as using robotic arms for loading and unloading in the automotive industry, and is characterized by high rigidity and high precision. Force control, on the other hand, refers to sending generated control torque as commands to the actuators of the arm joints, causing the arm joints to track the control torque. Compared to position control, force control has higher motion responsiveness, better dynamics, and better compliance, making it more suitable for service scenarios with human-machine interaction.

[0003] In related technologies, the arm joints of robotic arms are of a series structure, and the force control scheme is simple. Force control is performed by calculating the control torque required for the movement of the series robotic arm. This results in the arm joints near the base of the robotic arm bearing a large load. The volume and required control torque of the first two joints of the robotic arm are very large, and the corresponding connecting rod size is also large, making the overall robotic arm relatively bulky. In order to solve this problem, a differential transmission scheme has been developed to replace the traditional series scheme. One differential transmission scheme can be configured such that the arm joints near the base of the robotic arm cooperate with the differential wheel. The transmission control between the gears driven by different drive motors of the differential wheel is used to control the movement state of the arm joints in each degree of freedom.

[0004] In this method, the force control effect on the arm joint during differential drive control is poor, which affects the accuracy of influence control. Summary of the Invention

[0005] This disclosure aims to at least partially address one of the technical problems in the related art.

[0006] Therefore, the purpose of this disclosure is to propose a force control method, device, electronic device, robotic arm and storage medium for a robotic arm, which can effectively improve the force control effect of the arm joint during differential transmission control and effectively improve the accuracy of force control.

[0007] The first aspect of this disclosure discloses a force control method for a robotic arm, the robotic arm including: an arm joint and a differential wheel, wherein the gears driven by different drive motors of the differential wheel have a transmission ratio, including: determining desired position information and desired velocity information of the joint model; determining first actual position information and first actual velocity information of the arm joint; determining second actual position information of the joint model based on the transmission ratio and the first actual position information, and determining second actual velocity information of the joint model based on the transmission ratio and the first actual velocity information; and determining a target control torque of the drive motor based on the desired position information, desired velocity information, second actual position information, and second actual velocity information.

[0008] In some embodiments of this disclosure, determining the second actual position information of the joint model based on the transmission ratio and the first actual position information, and determining the second actual speed information of the joint model based on the transmission ratio and the first actual speed information, includes: determining the first transmission conversion information based on the transmission ratio; processing the first actual position information based on the first transmission conversion information to obtain the second actual position information of the joint model; and processing the first actual speed information based on the first transmission conversion information to obtain the second actual speed information of the joint model.

[0009] In some embodiments of this disclosure, determining the target control torque of the drive motor based on the desired position information, desired velocity information, second actual position information, and second actual velocity information includes: determining the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information; determining the desired control torque of the drive motor based on the transmission ratio and the desired torque information; determining the frictional torque information generated by the drive motor driving arm joint; and generating the target control torque of the drive motor based on the frictional torque information and the desired control torque.

[0010] In some embodiments of this disclosure, determining the expected torque information of a joint model based on expected position information, expected velocity information, second actual position information, and second actual velocity information includes: acquiring the position gain and velocity gain of the joint model; processing the expected position information and second actual position information based on the position gain to obtain the result position information; processing the expected velocity information and second actual velocity information based on the velocity gain to obtain the processing result information; and generating the expected torque information of the joint model based on the result position information and the processing result information.

[0011] In some embodiments of this disclosure, the desired torque information of the joint model is generated based on the result location information and the processing result information, including: determining the feedforward torque information corresponding to the joint model; generating the torque information to be compensated based on the result location information and the processing result value; and performing compensation processing on the torque information to be compensated based on the feedforward torque information to obtain the desired torque information.

[0012] In some embodiments of this disclosure, determining the desired control torque of the drive motor based on the transmission ratio and desired torque information includes: determining second transmission conversion information based on the transmission ratio; and processing the desired torque information based on the second transmission conversion information to obtain the desired control torque of the drive motor.

[0013] In some embodiments of this disclosure, determining the frictional torque information generated by the drive motor driving the arm joint includes: determining the frictional torque information generated by the drive motor driving the arm joint based on the first actual position information and the first actual speed information of the arm joint.

[0014] In some embodiments of this disclosure, the drive motor includes: a first drive motor and a second drive motor; wherein, the friction torque information includes: first friction torque information generated by the first drive motor driving the arm joint; and second friction torque information generated by the second drive motor driving the arm joint; correspondingly, the desired control torque includes: a first desired control torque of the first drive motor; and a second desired control torque of the second drive motor.

[0015] In some embodiments of this disclosure, generating a target control torque for a drive motor based on friction torque information and a desired control torque includes: compensating a first desired control torque based on first friction torque information to obtain a first target control torque for the first drive motor; and compensating a second desired control torque based on second friction torque information to obtain a second target control torque for the second drive motor.

[0016] The force control method for a robotic arm proposed in the first aspect of this disclosure determines the first actual position information and the first actual speed information of the arm joint by determining the desired position information and desired speed information of the joint model, determining the second actual position information of the joint model based on the transmission ratio and the first actual position information, determining the second actual speed information of the joint model based on the transmission ratio and the first actual speed information, and determining the target control torque of the drive motor based on the desired position information, desired speed information, second actual position information, and second actual speed information. This method can effectively improve the force control effect of the arm joint in the differential transmission control process and effectively improve the accuracy of force control.

[0017] The second aspect of this disclosure provides a force control device for a robotic arm. The robotic arm includes an arm joint and a differential wheel. The gears driven by different drive motors of the differential wheel have a transmission ratio. The device includes: a first determining module for determining desired position information and desired velocity information of the joint model; a second determining module for determining first actual position information and first actual velocity information of the arm joint; a third determining module for determining second actual position information of the joint model based on the transmission ratio and the first actual position information, and determining second actual velocity information of the joint model based on the transmission ratio and the first actual velocity information; and a fourth determining module for determining a target control torque of the drive motor based on the desired position information, desired velocity information, second actual position information, and second actual velocity information.

[0018] In some embodiments of this disclosure, the third determining module includes: a determining submodule, configured to determine first transmission conversion information based on the transmission ratio; a first processing submodule, configured to process first actual position information based on the first transmission conversion information to obtain second actual position information of the joint model; and a second processing submodule, configured to process first actual speed information based on the first transmission conversion information to obtain second actual speed information of the joint model.

[0019] In some embodiments of this disclosure, the fourth determining module is specifically used to: determine the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information; determine the desired control torque of the drive motor based on the transmission ratio and the desired torque information; determine the frictional torque information generated by the drive motor driving the arm joint; and generate the target control torque of the drive motor based on the frictional torque information and the desired control torque.

[0020] In some embodiments of this disclosure, the fourth determining module is further configured to: acquire the position gain and velocity gain of the joint model; process the expected position information and the second actual position information according to the position gain to obtain the result position information; process the expected velocity information and the second actual velocity information according to the velocity gain to obtain the processing result information; and generate the expected torque information of the joint model according to the result position information and the processing result information.

[0021] In some embodiments of this disclosure, the fourth determining module is further configured to: determine the feedforward torque information corresponding to the joint model; generate the torque information to be compensated based on the result position information and the processing result value; and perform compensation processing on the torque information to be compensated based on the feedforward torque information to obtain the desired torque information.

[0022] In some embodiments of this disclosure, the fourth determining module is further configured to: determine second transmission conversion information based on the transmission ratio; and process the desired torque information based on the second transmission conversion information to obtain the desired control torque of the drive motor.

[0023] In some embodiments of this disclosure, the fourth determining module is further configured to: determine the frictional torque information generated by the drive motor driving the arm joint based on the first actual position information and the first actual speed information of the arm joint.

[0024] In some embodiments of this disclosure, the drive motor includes: a first drive motor and a second drive motor; wherein, the friction torque information includes: first friction torque information generated by the first drive motor driving the arm joint; and second friction torque information generated by the second drive motor driving the arm joint; correspondingly, the desired control torque includes: a first desired control torque of the first drive motor; and a second desired control torque of the second drive motor.

[0025] In some embodiments of this disclosure, the fourth determining module is further configured to: perform compensation processing on the first desired control torque based on the first friction torque information to obtain the first target control torque of the first drive motor; and perform compensation processing on the second desired control torque based on the second friction torque information to obtain the second target control torque of the second drive motor.

[0026] The force control device for the robotic arm proposed in the second aspect of this disclosure determines the first actual position information and the first actual speed information of the arm joint by determining the desired position information and desired speed information of the joint model, determining the second actual position information of the joint model based on the transmission ratio and the first actual position information, determining the second actual speed information of the joint model based on the transmission ratio and the first actual speed information, and determining the target control torque of the drive motor based on the desired position information, desired speed information, second actual position information, and second actual speed information. This can effectively improve the force control effect of the arm joint in the differential transmission control process and effectively improve the accuracy of force control.

[0027] A third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements a force control method for a robotic arm as proposed in a first aspect of this disclosure.

[0028] A fourth aspect of this disclosure provides a robotic arm comprising: an arm joint and a differential wheel, wherein gears driven by different drive motors of the differential wheel have a transmission ratio; and a force control device for the robotic arm provided in a second aspect of this disclosure.

[0029] The fifth aspect of this disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements a force control method for a robotic arm as described in the first aspect of this disclosure.

[0030] A sixth aspect of this disclosure provides a computer program product that, when instructions in the computer program product are executed by a processor, performs a force control method for a robotic arm as described in a first aspect of this disclosure.

[0031] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0033] Figure 1 This is a flowchart illustrating a force control method for a robotic arm according to an embodiment of this disclosure;

[0034] Figure 2a This is a schematic diagram of the structure of the robotic arm in an embodiment of this disclosure;

[0035] Figure 2b This is a schematic diagram of the differential wheel in an embodiment of this disclosure;

[0036] Figure 2c This is a simplified schematic diagram of the differential wheel mechanism in an embodiment of this disclosure;

[0037] Figure 2d This is a simplified diagram of the transmission structure of the equivalent joint model in the embodiments of this disclosure;

[0038] Figure 3 This is a flowchart illustrating a force control method for a robotic arm according to another embodiment of this disclosure;

[0039] Figure 4 This is a flowchart illustrating a force control method for a robotic arm according to another embodiment of this disclosure;

[0040] Figure 5 This is a schematic diagram of the force control device for a robotic arm according to an embodiment of the present disclosure;

[0041] Figure 6 This is a schematic diagram of the force control device for a robotic arm according to another embodiment of the present disclosure;

[0042] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown;

[0043] Figure 8 A block diagram is shown of an exemplary robotic arm suitable for implementing embodiments of the present disclosure. Detailed Implementation

[0044] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0045] Figure 1 This is a flowchart illustrating a force control method for a robotic arm according to an embodiment of this disclosure.

[0046] It should be noted that the execution subject of the force control method of the robotic arm in this embodiment is the force control device of the robotic arm. This device can be implemented by software and / or hardware. This device can be configured in the robotic arm or in an electronic device used to control the motion of the robotic arm. There are no restrictions on this.

[0047] The force control method for the robotic arm in this embodiment can be applied to robotic arms with differential wheel reverse drive joints, and can solve the technical problem of joint motion and force coupling introduced by the differential wheel structure. The force control method for the robotic arm in this embodiment can be applied to the force control of robotic arms, legged robots and wheeled robots containing such drive joints.

[0048] The robotic arm includes arm joints and differential wheels, with the gears driven by different motors on the differential wheels having a transmission ratio. For example... Figure 2a As shown, Figure 2a This is a schematic diagram of the robotic arm in an embodiment of this disclosure, showing a side view of a six-degree-of-freedom robotic arm prototype with a differential wheel and a reverse-drive joint. The robotic arm includes a differential wheel 1, which cooperates with an arm joint near the robotic arm base. The transmission control between the gears driven by different drive motors of the differential wheel 1 can drive the robotic arm to achieve movement in the first two degrees of freedom. Movement in the latter four degrees of freedom can also be achieved through the linkage of other motors and joints; no limitation is imposed on this. Figure 2b As shown, Figure 2b This is a schematic diagram of the differential wheel in an embodiment of the present disclosure, wherein, Figure 2b The differential wheel shown corresponds to Figure 2a The differential wheel 1 shown is... Figure 2b The diagram shows the specific structure of the differential gear train. Module 10 is the horizontal axis of the planetary carrier, module 12 is the vertical axis of the planetary carrier, modules 2 and 3 are different drive motors of the differential gear train, and the shafts of the drive motors coincide with the axis of the horizontal axis of the planetary carrier. Gears 7 and 8 are fixedly connected to the output ends of the two drive motors, and gear 13 is fixedly connected to the base 6 of the robotic arm, with the shaft of gear 13 coinciding with the vertical axis of the planetary carrier.

[0049] like Figure 2c As shown, Figure 2c This is a simplified schematic diagram of the differential gear mechanism in this embodiment. 1 corresponds to the gear fixedly connected to the output end of the left drive motor in the prototype, 3 corresponds to the gear fixedly connected to the output end of the right drive motor, 2 is the sun gear fixedly connected to the base of the robotic arm, H is the planet carrier, and 4 is the output link fixedly connected to the stationary end of the drive motor. Due to the meshing of the gears, this differential gear system has two degrees of freedom. When the two drive motors rotate in opposite directions at the same speed, the output link 4 will rotate around the vertical axis of the planet carrier (corresponding to the roll degree of freedom). When the two drive motors rotate in the same direction at the same speed, the output link 4 will rotate around the horizontal axis of the planet carrier (pitch degree of freedom).

[0050] In this embodiment, based on differential gears of different structures, the motion control of a robotic arm with more than two degrees of freedom can be extended, without limitation. It is understood that because differential gear trains contain multiple sets of meshing gears, their dynamics are complex, and frictional torque exists between the drive motor and the robotic arm, affecting the output control torque. This embodiment provides a force control method for a robotic arm specifically for this application scenario, addressing the technical problem in related technologies where the force control effect on the arm joint during differential transmission control is poor, affecting control accuracy.

[0051] like Figure 1 As shown, the force control method of the robotic arm includes:

[0052] S101: Determine the desired position and velocity information of the joint model.

[0053] Among them, the joint model can be obtained by modeling the motion state of the arm joints in the robotic arm based on different degrees of freedom. This can realize the transformation of the relatively complex force control of the robotic arm with differential gear train into a simple serial robotic arm control, as described above. Figure 2c The simplified schematic diagram of the differential wheel mechanism is used as an example. The motion state of the robotic arm in different degrees of freedom can be modeled by referring to the differential wheel to obtain a virtual joint model.

[0054] like Figure 2d As shown, Figure 2d This is a simplified diagram of the transmission structure of the equivalent joint model in this embodiment, where pitch represents the pitch degree of freedom and roll represents the roll degree of freedom, and there are no restrictions on these.

[0055] In other words, the robotic arm mentioned in the embodiments of this disclosure can utilize two arm joints with the same load capacity. Through a differential gear train design, the two joints jointly drive the output link connected to the output end of the drive motor. By coordinating the rotation of different drive motors, the output link can achieve rotation around a vertical axis and rotation around a horizontal axis. Its motion effect can be equivalent to... Figure 2d The diagram shows a more intuitive two-degree-of-freedom serial joint model. During force control, the motion-force mapping relationship between the robotic arm and the equivalent virtual joint model can be found using the principle of equal power. This allows the force control of a relatively complex robotic arm with differential gear trains to be equivalent to simple serial robotic arm control, thus achieving control of complex differentially coupled gear trains.

[0056] In this embodiment, the differential wheel reverse drive joint can be equivalent to a virtual series joint model. The force-motion mapping relationship between two actual arm joints and joint models is given by using the principle of equal power. The force-motion mapping relationship between the arm joint and joint model can be determined by fitting the transmission ratio between the gears driven by different drive motors. Then, based on the force-motion mapping relationship between the arm joint and joint model, the control torque output by the drive motor can be conveniently determined.

[0057] In this embodiment, the arm joint can be modeled first to obtain a joint model, and then the desired position information and desired velocity information of the joint model can be determined. The desired position information can be the position desired for controlling the arm joint, and this desired position information can be the desired position corresponding to different degrees of freedom, such as the desired position corresponding to the roll degree of freedom and the desired position corresponding to the pitch degree of freedom. The desired velocity information can be the velocity desired for controlling the arm joint, and this desired velocity information can be the desired velocity corresponding to different degrees of freedom, such as the desired velocity corresponding to the roll degree of freedom and the desired velocity corresponding to the pitch degree of freedom. Of course, depending on the number of arm joints, the desired position information can also include the desired position corresponding to any other possible number of degrees of freedom, and the desired velocity information can also include the desired velocity corresponding to any other possible number of degrees of freedom; there is no limitation in this regard.

[0058] In this embodiment of the disclosure, the expected position information includes the expected position corresponding to two degrees of freedom, and the expected velocity information includes the expected velocity corresponding to two degrees of freedom, as an example, but no limitation is made thereto.

[0059] For example, firstly, the expected position information and expected velocity information of the joint model are planned according to the task requirements. The expected position information includes: the expected position q corresponding to the roll degree of freedom. roll_des The expected position q corresponding to the pitch degree of freedom pitch_desThe expected velocity information includes: the expected velocity w corresponding to the roll degree of freedom. roll_des The expected velocity w corresponding to the pitch degree of freedom pitch_des .

[0060] S102: Determine the first actual position information and the first actual velocity information of the arm joint.

[0061] The current actual position information of the arm joint can be referred to as the first actual position information, and the current actual velocity information of the arm joint can be referred to as the actual velocity information. Assuming that there are two arm joints in this embodiment, the two arm joints can realize the movement of the corresponding degrees of freedom. The first actual position information can be the actual position corresponding to different arm joints, and the first actual velocity information can be the actual velocity corresponding to different arm joints. Of course, as the number of degrees of freedom is different, the number of arm joints may also be different. The first actual position information can also include the actual position corresponding to any other possible number of arm joints, and the first actual velocity information can also include the actual velocity corresponding to any other possible number of arm joints. There is no limitation on this.

[0062] In this embodiment, the first actual position information includes the actual positions corresponding to the two arm joints, and the first actual speed information includes the actual speeds corresponding to the two arm joints, but this is not a limitation.

[0063] For example, the first actual position information includes: the actual positions q corresponding to the two arm joints respectively. 1_sta ,q 2_sta The first actual velocity information includes: the actual velocity corresponding to each of the two arm joints, q 1_sta ,q 2_sta ,w 1_sta ,w 2_sta This information can be obtained through the position encoder configured on the arm joint.

[0064] S103: Determine the second actual position information of the joint model based on the transmission ratio and the first actual position information, and determine the second actual speed information of the joint model based on the transmission ratio and the first actual speed information.

[0065] After determining the first actual position information and the first actual speed information of the arm joint, the second actual position information of the joint model can be determined based on the transmission ratio between the gears driven by the different drive motors of the differential wheel, combined with the first actual position information. The second actual speed information of the joint model can also be determined by combining the transmission ratio and the first actual speed information.

[0066] In this embodiment, the second actual position information of the joint model can be determined by combining the transmission ratio and the first actual position information of the arm joint, and the second actual velocity information of the joint model can be determined by combining the transmission ratio and the first actual velocity information of the arm joint. The second actual position information can be hypothetical actual position information determined for a virtual joint model. This second actual position information can be a hypothetical actual position corresponding to different degrees of freedom, for example, the hypothetical actual position q corresponding to the roll degree of freedom. roll_sta and the hypothetical actual position q corresponding to the pitch degree of freedom. pitch_sta .

[0067] The second actual velocity information can be hypothetical actual velocity information determined for a virtual joint model. This second actual velocity information can be hypothetical actual velocities corresponding to different degrees of freedom, for example, the hypothetical actual velocity w corresponding to the roll degree of freedom. roll_sta and the hypothetical actual velocity w corresponding to the pitch degree of freedom pitch_sta Of course, depending on the number of degrees of freedom simulated by the joint model, the second actual position information may also include hypothetical actual position information corresponding to any other possible number of degrees of freedom, and the second actual velocity information may also include hypothetical actual position information corresponding to any other possible number of degrees of freedom; there are no restrictions on this.

[0068] Optionally, in some embodiments, the transmission ratio and the first actual position information can be input into a pre-built position information prediction model to determine the second actual position information of the joint model based on the output of the position information prediction model. Alternatively, the transmission ratio and the first actual speed information can be input into a pre-built speed information prediction model to determine the second actual speed information of the joint model based on the output of the speed information prediction model. There are no limitations on this.

[0069] Optionally, in other embodiments, a running model of the joint model can be fitted based on the transmission ratio and the first actual position information, and motion parameter analysis can be performed on the motion model. The second actual position information of the joint model can then be predicted based on the analyzed motion parameters. Alternatively, a running model of the joint model can be fitted based on the transmission ratio and the first actual velocity information, and motion parameter analysis can be performed on the motion model. The second actual velocity information of the joint model can then be predicted based on the analyzed motion parameters. No limitation is imposed on this approach. Any other possible method can also be used to determine the second actual position information of the joint model based on the transmission ratio and the first actual position information, and the second actual velocity information of the joint model based on the transmission ratio and the first actual velocity information, such as artificial intelligence methods, mechanical methods, etc.

[0070] Optionally, in some embodiments, a first transmission conversion information can be determined based on the transmission ratio, and a first actual position information can be processed based on the first transmission conversion information to obtain a second actual position information of the joint model, and a first actual speed information can be processed based on the first transmission conversion information to obtain a second actual speed information of the joint model, thereby accurately and quickly determining the hypothetical actual position information and actual speed information of the virtual joint model and effectively improving the response efficiency of the transmission control.

[0071] In other words, in this embodiment of the present disclosure, it is supported to use the motion mapping relationship between the virtual joint model and the actual differential gear train to calculate the hypothetical actual position information and actual velocity information of the virtual joint model at the current moment.

[0072] Among them, the motion mapping relationship can be determined according to the transmission ratio. This motion mapping relationship can be called the first transmission conversion information, which can be presented in the form of a conversion matrix.

[0073] The first transmission conversion information could be, for example: Where N is the transmission ratio.

[0074] For example, processing the first actual position information based on the first transmission conversion information to obtain the second actual position information of the joint model can be done in the following ways:

[0075]

[0076] Processing the first actual speed information based on the first transmission conversion information to obtain the second actual speed information of the joint model can be, for example:

[0077] S104: Determine the target control torque of the drive motor based on the desired position information, desired speed information, second actual position information, and second actual speed information.

[0078] After determining the desired position and velocity information of the joint model, and based on the transmission ratio and the first actual position information, determining the second actual position information of the joint model, and based on the transmission ratio and the first actual velocity information, determining the second actual velocity information of the joint model, the desired position information, desired velocity information, second actual position information, and second actual velocity information can be combined to determine the target control torque of the drive motor. Since the joint model is obtained by modeling the motion states of the arm joints in the robotic arm based on different degrees of freedom, the relatively complex force control of the robotic arm with differential gear trains is equivalent to a simple serial robotic arm control, which can effectively simplify the force control processing logic of the robotic arm and facilitate the mechanical calculation of the target control torque of the drive motor.

[0079] In this embodiment, by determining the desired position information and desired velocity information of the joint model (where the joint model is obtained by modeling the arm joint), and determining the first actual position information and first actual velocity information of the arm joint, the second actual position information of the joint model is determined based on the transmission ratio and the first actual position information, and the second actual velocity information of the joint model is determined based on the transmission ratio and the first actual velocity information, and the target control torque of the drive motor is determined based on the desired position information, desired velocity information, second actual position information, and second actual velocity information. This can effectively improve the force control effect of the arm joint in the differential transmission control process and effectively improve the accuracy of force control.

[0080] Figure 3 This is a flowchart illustrating a force control method for a robotic arm according to another embodiment of this disclosure.

[0081] like Figure 3 As shown, the force control method of the robotic arm includes:

[0082] S301: Determine the desired position and velocity information of the joint model.

[0083] S302: Determine the first actual position information and the first actual velocity information of the arm joint.

[0084] S303: Determine the second actual position information of the joint model based on the transmission ratio and the first actual position information, and determine the second actual speed information of the joint model based on the transmission ratio and the first actual speed information.

[0085] For a detailed description of S301-S303, please refer to the above embodiments, which will not be repeated here.

[0086] S304: Determine the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information.

[0087] Since the desired position information, desired velocity information, second actual position information, and second actual velocity information are all motion parameters associated with the joint model, the torque information required for the joint model to move to the corresponding desired position and desired velocity information based on the aforementioned motion parameters can be obtained by fitting these motion parameters. This required torque information can be referred to as the desired torque information of the joint model. Specifically, this desired torque information can be, for example, a torque value and / or a torque direction, without limitation. The desired torque information of the joint model can include: desired torque information corresponding to different degrees of freedom, for example, the desired torque information τ corresponding to the roll degree of freedom. roll_des and the expected torque information τ corresponding to the pitch degree of freedom pitch_des .

[0088] In some embodiments, the desired position information, desired velocity information, second actual position information, and second actual velocity information can be input into the torque calculation model, and the desired torque information of the joint model can be determined based on the torque calculation model; this is not limited. In other embodiments, the joint model can be motion-modeled based on the desired position information, desired velocity information, second actual position information, and second actual velocity information to obtain motion simulation parameters of the joint model, and then the desired torque information of the joint model can be calculated based on the motion simulation parameters.

[0089] like Figure 4 As shown, in this embodiment, when determining the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information, it can also be achieved based on the following steps:

[0090] S401: Obtain the position gain and velocity gain of the joint model.

[0091] Among them, K can be used roll The position gain corresponding to the joint model and the roll degree of freedom is represented by K. pitch The position gain corresponding to the joint model and the pitch degree of freedom is represented by D. roll The velocity gain corresponding to the joint model and the roll degree of freedom is represented by D. pitch This represents the velocity gain corresponding to the joint model and the pitch degree of freedom. The position gain and velocity gain of this joint model can be adaptively adjusted according to the actual performance of the task.

[0092] S402: Process the desired position information and the second actual position information according to the position gain to obtain the result position information.

[0093] For example, position gain includes: the position gain K corresponding to the roll degree of freedom. roll and the position gain K corresponding to the pitch degree of freedom. pitch The expected position information includes: the expected position q corresponding to the roll degree of freedom. roll_des The expected position q corresponding to the pitch degree of freedom pitch_des The second actual position information includes: the hypothetical actual position q corresponding to the roll degree of freedom. roll_sta and the hypothetical actual position q corresponding to the pitch degree of freedom. pitch_sta Then, by processing the desired position information and the second actual position information based on the position gain, the resulting position information can be obtained: K roll (q roll_des -q roll_sta ) and K pitch (qpitch_des -q pitch_sta ).

[0094] S403: Process the desired speed information and the second actual speed information according to the speed gain to obtain the processing result information.

[0095] For example, velocity gain includes: the velocity gain D corresponding to the roll degree of freedom. roll And the velocity gain D corresponding to the pitch degree of freedom. pitch The expected velocity information includes: the expected velocity w corresponding to the roll degree of freedom. roll_des The expected velocity w corresponding to the pitch degree of freedom pitch_des The second actual velocity information includes: the hypothetical actual velocity w corresponding to the roll degree of freedom. roll_sta And the hypothetical actual velocity w corresponding to the pitch degree of freedom. pitch_sta Then, by processing the desired velocity information and the second actual velocity information according to the velocity gain, the processing result information can be obtained: D roll (w roll_des -w roll_sta ) and D pitch (w pitch_des -w pitch_sta ).

[0096] S404: Generate the expected torque information of the joint model based on the result location information and processing result information.

[0097] The expected torque information of the joint model may include: the expected torque information τ corresponding to the roll degree of freedom. roll_des And the expected torque information τ corresponding to the pitch degree of freedom. pitch_des .

[0098] The result location information includes: K roll (q roll_des -q roll_sta ) and K pitch (q pitch_des -q pitch_sta ).

[0099] The processing result information includes: D roll (w roll_des -w roll_sta ) and D pitch (w pitch_des -w pitch_sta ).

[0100] Then, the result location information and processing result information can be processed to obtain the expected torque information τ corresponding to the roll degree of freedom. roll_desAnd the expected torque information τ corresponding to the pitch degree of freedom. pitch_des .

[0101] By acquiring the position gain and velocity gain of the joint model, processing the expected position information and the second actual position information based on the position gain to obtain the result position information, processing the expected velocity information and the second actual velocity information based on the velocity gain to obtain the processing result information, and generating the expected torque information of the joint model based on the result position information and the processing result information, the expected torque of the joint model can be quickly and conveniently modeled and analyzed, thus improving the accuracy of the expected torque modeling and analysis of the joint model.

[0102] In this embodiment of the disclosure, in order to improve the dynamic response efficiency of the arm joint during the modeling and analysis of the desired torque of the joint model, the desired torque can be superimposed with the feedforward torque information of the joint model calculated based on the dynamic equation. This feedforward torque information may include: the feedforward torque information τ corresponding to the roll degree of freedom. roll_ff And the feedforward torque information τ corresponding to the pitch degree of freedom. pitch_ff .

[0103] In other words, when generating the desired torque information of the joint model based on the result location information and the processing result information, it is possible to determine the feedforward torque information corresponding to the joint model, generate the torque information to be compensated based on the result location information and the processing result value, and perform compensation processing on the torque information to be compensated based on the feedforward torque information to obtain the desired torque information.

[0104] For example, when generating the desired torque information of the joint model based on the result location information and processing result information, the following calculation formula can be used as a reference:

[0105]

[0106] The information on the torque to be compensated may include:

[0107] K roll (q roll_des -q roll_sta )+D roll (w roll_des -w roll_sta ),and

[0108] K pitch (q pitch_des -q pitch_sta )+D pitch (w pitch_des -w pitch_sta );

[0109] Then, based on the feedforward torque information: the feedforward torque information τ corresponding to the roll degree of freedom, roll_ff And the feedforward torque information τ corresponding to the pitch degree of freedom. pitch_ff The desired torque information is obtained by compensating the above-mentioned torque information to be compensated: the desired torque information τ corresponding to the roll degree of freedom. roll_des And the expected torque information τ corresponding to the pitch degree of freedom. pitch_des .

[0110] S305: Determine the desired control torque of the drive motor based on the transmission ratio and desired torque information.

[0111] After determining the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information, the desired control torque of the drive motor can also be determined based on the transmission ratio and the desired torque information. Here, the desired control torque refers to the control torque output by the drive motor that enables the motion of the corresponding joint model to satisfy the desired torque information.

[0112] In some embodiments, the transmission ratio and desired torque information can be input into a pre-built control torque prediction model to determine the desired control torque of the drive motor based on the output of the control torque prediction model; this is not limited. In other embodiments, the interaction between the drive motor and the robotic arm of the differential wheel can be analyzed based on the transmission ratio, and the gear driven by the drive motor can be motion-modeled based on this interaction. The desired control torque of the drive motor can be determined based on the results of the motion modeling analysis; this is not limited. In this embodiment of the present disclosure, in order to improve the prediction efficiency of the desired control torque of the drive motor and the response efficiency of the robotic arm control, second transmission conversion information can be determined according to the transmission ratio, and the desired torque information can be processed according to the second transmission conversion information to obtain the desired control torque of the drive motor.

[0113] The second transmission conversion information can be used to characterize the force mapping relationship between the joint model and the differential wheel. This second transmission conversion information can be presented in the form of a conversion matrix, as shown in the following example:

[0114] Where N represents the transmission ratio.

[0115] For example, the expected torque information includes: the expected torque information τ corresponding to the roll degree of freedom. roll_des And the expected torque information τ corresponding to the pitch degree of freedom. pitch_des Then the desired control torque of the drive motor is:

[0116] Where, τ 1_des ,τ2_des Let τ be the desired control torque of the drive motor. Since there are two drive motors for the differential wheel required to achieve the two degrees of freedom, which can be referred to as the first drive motor and the second drive motor, the first desired control torque of the first drive motor can be τ. 1_des The second desired control torque of the second drive motor can be τ 2_des .

[0117] S306: Determine the frictional torque information generated by the drive motor drive arm joint.

[0118] In order to compensate for the friction generated by the actual differential gear drive arm joint, reduce the impact of friction on the force control effect of the robotic arm, and improve the accuracy of the force control of the robotic arm, this embodiment of the present disclosure can also determine the friction torque information generated by the drive motor drive arm joint after determining the desired control torque of the drive motor according to the transmission ratio and desired torque information, and perform corresponding compensation processing on the desired torque information based on the friction torque information.

[0119] Optionally, in some embodiments, when determining the frictional torque information generated by the drive motor driving the arm joint, the frictional torque information generated by the drive motor driving the arm joint can be determined based on the first actual position information and the first actual speed information of the arm joint. For example, the drive motor includes: a first drive motor and a second drive motor; wherein, the frictional torque information includes: first frictional torque information generated by the first drive motor driving the arm joint; and second frictional torque information generated by the second drive motor driving the arm joint, then the first frictional torque information τ 1_firc Second friction torque information τ 2_firc The calculation method can be illustrated as follows: The first actual position information includes: the actual positions q corresponding to the two arm joints respectively. 1_sta ,q 2_sta The first actual velocity information includes: the actual velocity w corresponding to each of the two arm joints. 1_sta ,w 2_sta Fun1 and Fun2 can be any formula, model, function, etc. that can calculate friction torque, and there are no restrictions on them.

[0120] S307: Generate the target control torque of the drive motor based on the friction torque information and the desired control torque.

[0121] In other words, the embodiments of this disclosure support compensation processing for the first desired control torque and the second desired control torque based on the first frictional torque information generated by the first drive motor drive arm joint and the second frictional torque information generated by the second drive motor drive arm joint, respectively, effectively improving the accuracy of friction compensation. Optionally, in some embodiments, when generating the target control torque of the drive motor based on the frictional torque information and the desired control torque, the first desired control torque can be compensated based on the first frictional torque information to obtain the first target control torque of the first drive motor, and the second desired control torque can be compensated based on the second frictional torque information to obtain the second target control torque of the second drive motor.

[0122] For example, the compensation control method can be represented by the following formula:

[0123] The first target control torque of the first drive motor is τ. 1_cmd The second target control torque of the second drive motor is τ. 2_cmd During the compensation control process, the first friction torque information can be superimposed on the first desired control torque of the first drive motor to obtain the first target control torque, and the second friction torque information can be superimposed on the second desired control torque of the second drive motor to obtain the second target control torque.

[0124] In this embodiment, by determining the desired position and desired velocity information of the joint model, and determining the first actual position and first actual velocity information of the arm joint, the second actual position and second actual velocity information of the joint model are determined based on the transmission ratio and the first actual position information. Furthermore, the target control torque of the drive motor is determined based on the desired position, desired velocity, second actual position, and second actual velocity information. This effectively improves the force control effect on the arm joint during differential transmission control, significantly enhancing force control accuracy. It fills a technological gap in the field of force control for robotic arms with differential wheel reverse drive joints. By determining the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information, and by determining the desired control torque of the drive motor based on the transmission ratio and desired torque information, the frictional torque information generated by the drive motor driving the arm joint is determined, and the target control torque of the drive motor is generated based on the frictional torque information and desired control torque, the dynamic responsiveness of the robotic arm can be effectively improved, enabling the robotic arm to be applied to more complex interactive situations. Furthermore, this differential gear system can effectively reduce the performance requirements of the first two axes of the robotic arm on the motor, improve the energy efficiency of the whole machine, and enhance the compactness of the robotic arm.

[0125] Figure 5 This is a schematic flowchart of a force control device for a robotic arm according to an embodiment of the present disclosure.

[0126] like Figure 5 As shown, the force control device 50 of the robotic arm includes:

[0127] The first determining module 501 is used to determine the desired position information and desired velocity information of the joint model;

[0128] The second determining module 502 is used to determine the first actual position information and the first actual speed information of the arm joint; the third determining module 503 is used to determine the second actual position information of the joint model based on the transmission ratio and the first actual position information, and to determine the second actual speed information of the joint model based on the transmission ratio and the first actual speed information; the fourth determining module 504 is used to determine the target control torque of the drive motor based on the desired position information, the desired speed information, the second actual position information, and the second actual speed information.

[0129] In some embodiments of this disclosure, such as Figure 6 As shown, Figure 6 This is a schematic diagram of the force control device for a robotic arm according to another embodiment of the present disclosure. The third determining module includes: a determining submodule 5031, used to determine first transmission conversion information according to the transmission ratio; a first processing submodule 5032, used to process first actual position information according to the first transmission conversion information to obtain second actual position information of the joint model; and a second processing submodule 5033, used to process first actual speed information according to the first transmission conversion information to obtain second actual speed information of the joint model.

[0130] In some embodiments of this disclosure, the fourth determining module is specifically used to: determine the desired torque information of the joint model based on the desired position information, desired velocity information, second actual position information, and second actual velocity information; determine the desired control torque of the drive motor based on the transmission ratio and the desired torque information; determine the frictional torque information generated by the drive motor driving the arm joint; and generate the target control torque of the drive motor based on the frictional torque information and the desired control torque.

[0131] In some embodiments of this disclosure, the fourth determining module is further configured to: acquire the position gain and velocity gain of the joint model; process the expected position information and the second actual position information according to the position gain to obtain the result position information; process the expected velocity information and the second actual velocity information according to the velocity gain to obtain the processing result information; and generate the expected torque information of the joint model according to the result position information and the processing result information.

[0132] In some embodiments of this disclosure, the fourth determining module is further configured to: determine the feedforward torque information corresponding to the joint model; generate the torque information to be compensated based on the result position information and the processing result value; and perform compensation processing on the torque information to be compensated based on the feedforward torque information to obtain the desired torque information.

[0133] In some embodiments of this disclosure, the fourth determining module is further configured to: determine second transmission conversion information based on the transmission ratio; and process the desired torque information based on the second transmission conversion information to obtain the desired control torque of the drive motor.

[0134] In some embodiments of this disclosure, the fourth determining module is further configured to: determine the frictional torque information generated by the drive motor driving the arm joint based on the first actual position information and the first actual speed information of the arm joint.

[0135] In some embodiments of this disclosure, the drive motor includes: a first drive motor and a second drive motor; wherein, the friction torque information includes: first friction torque information generated by the first drive motor driving the arm joint; and second friction torque information generated by the second drive motor driving the arm joint; correspondingly, the desired control torque includes: a first desired control torque of the first drive motor; and a second desired control torque of the second drive motor.

[0136] In some embodiments of this disclosure, the fourth determining module is further configured to: perform compensation processing on the first desired control torque based on the first friction torque information to obtain the first target control torque of the first drive motor; and perform compensation processing on the second desired control torque based on the second friction torque information to obtain the second target control torque of the second drive motor.

[0137] With the above Figures 1 to 7 Corresponding to the force control method for the robotic arm provided in the embodiments, this disclosure also provides a force control device for the robotic arm. Since the force control device for the robotic arm provided in the embodiments of this disclosure is similar to the one described above... Figures 1 to 7 The force control method for the robotic arm provided in the embodiments corresponds to the force control method for the robotic arm provided in the embodiments of this disclosure. Therefore, the implementation of the force control method for the robotic arm is also applicable to the force control device for the robotic arm provided in the embodiments of this disclosure, and will not be described in detail in the embodiments of this disclosure.

[0138] In this embodiment, by determining the desired position information and desired velocity information of the joint model, and determining the first actual position information and first actual velocity information of the arm joint, the second actual position information of the joint model is determined based on the transmission ratio and the first actual position information, and the second actual velocity information of the joint model is determined based on the transmission ratio and the first actual velocity information. Furthermore, the target control torque of the drive motor is determined based on the desired position information, desired velocity information, second actual position information, and second actual velocity information. This effectively improves the force control effect of the arm joint during differential transmission control and effectively enhances the accuracy of force control.

[0139] To implement the above embodiments, this disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the force control method for the robotic arm as proposed in the foregoing embodiments of this disclosure.

[0140] To implement the above embodiments, this disclosure also proposes a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the force control method for the robotic arm as proposed in the foregoing embodiments of this disclosure.

[0141] To implement the above embodiments, this disclosure also proposes a computer program product that, when executed by an instruction processor, performs a force control method for a robotic arm as described in the foregoing embodiments of this disclosure.

[0142] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 7 The electronic device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0143] like Figure 7 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0144] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0145] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0146] Memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive".

[0147] although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this disclosure.

[0148] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this disclosure.

[0149] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0150] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the force control method of the robotic arm mentioned in the foregoing embodiments.

[0151] Figure 8 A block diagram is shown that is suitable for implementing an exemplary robotic arm according to embodiments of the present disclosure.

[0152] like Figure 8 As shown, the robotic arm 80 includes:

[0153] The arm joint 801 and the differential wheel 802, the gears driven by different drive motors of the differential wheel 802 have a transmission ratio; and the force control device 50 of the robotic arm.

[0154] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0155] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0156] It should be noted that in the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0157] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0158] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0159] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0160] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0161] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0162] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0163] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A force control method for a robotic arm, characterized in that, The robotic arm includes an arm joint and a differential wheel, wherein the gears driven by different drive motors of the differential wheel have a transmission ratio, and the method includes: Determine the desired position and velocity information of the joint model; Determine the first actual position information and the first actual velocity information of the arm joint; Based on the transmission ratio and the first actual position information, the second actual position information of the joint model is determined, and based on the transmission ratio and the first actual speed information, the second actual speed information of the joint model is determined. The target control torque of the drive motor is determined based on the desired position information, the desired speed information, the second actual position information, and the second actual speed information.

2. The method as described in claim 1, characterized in that, The step of determining the second actual position information of the joint model based on the transmission ratio and the first actual position information, and determining the second actual speed information of the joint model based on the transmission ratio and the first actual speed information, includes: Based on the transmission ratio, determine the first transmission conversion information; The first actual position information is processed based on the first transmission conversion information to obtain the second actual position information of the joint model; The first actual speed information is processed based on the first transmission conversion information to obtain the second actual speed information of the joint model.

3. The method as described in claim 1, characterized in that, Determining the target control torque of the drive motor based on the desired position information, the desired speed information, the second actual position information, and the second actual speed information includes: Based on the expected position information, the expected velocity information, the second actual position information, and the second actual velocity information, the expected torque information of the joint model is determined; Based on the transmission ratio and the desired torque information, the desired control torque of the drive motor is determined; Determine the frictional torque information generated by the drive motor driving the arm joint; The target control torque of the drive motor is generated based on the friction torque information and the desired control torque.

4. The method as described in claim 3, characterized in that, Determining the desired torque information of the joint model based on the desired position information, the desired velocity information, the second actual position information, and the second actual velocity information includes: Obtain the position gain and velocity gain of the joint model; The desired location information and the second actual location information are processed according to the location gain to obtain the result location information; The desired speed information and the second actual speed information are processed according to the speed gain to obtain the processing result information; Based on the result location information and the processing result information, the expected torque information of the joint model is generated.

5. The method as described in claim 4, characterized in that, The step of generating the desired torque information of the joint model based on the result position information and the processing result information includes: Determine the feedforward torque information corresponding to the joint model; Based on the result location information and the processing result information, generate the torque information to be compensated; The feedforward torque information is used to compensate the torque information to obtain the desired torque information.

6. The method as described in claim 3, characterized in that, Determining the desired control torque of the drive motor based on the transmission ratio and the desired torque information includes: Based on the transmission ratio, determine the second transmission conversion information; The desired torque information is processed based on the second transmission conversion information to obtain the desired control torque of the drive motor.

7. The method as described in claim 3, characterized in that, Determining the frictional torque information generated by the drive motor driving the arm joint includes: Based on the first actual position information and the first actual speed information of the arm joint, the frictional torque information generated by the drive motor driving the arm joint is determined.

8. The method as described in claim 7, characterized in that, The drive motor includes: a first drive motor and a second drive motor; wherein... The frictional torque information includes: Information on the first frictional torque generated by the first drive motor driving the arm joint; Information on the second frictional torque generated by the second drive motor driving the arm joint; Accordingly, the desired control torque includes: The first desired control torque of the first drive motor; The second desired control torque of the second drive motor.

9. The method as described in claim 8, characterized in that, The step of generating the target control torque of the drive motor based on the friction torque information and the desired control torque includes: The first desired control torque is compensated based on the first friction torque information to obtain the first target control torque of the first drive motor. The second desired control torque is compensated based on the second friction torque information to obtain the second target control torque of the second drive motor.

10. A force control device for a robotic arm, characterized in that, The robotic arm includes: an arm joint and a differential wheel, wherein the gears driven by different drive motors of the differential wheel have a transmission ratio; the device includes: The first determining module is used to determine the desired position information and desired velocity information of the joint model; The second determining module is used to determine the first actual position information and the first actual velocity information of the arm joint; The third determining module is used to determine the second actual position information of the joint model based on the transmission ratio and the first actual position information, and to determine the second actual speed information of the joint model based on the transmission ratio and the first actual speed information; The fourth determining module is used to determine the target control torque of the drive motor based on the desired position information, the desired speed information, the second actual position information, and the second actual speed information.

11. The apparatus as claimed in claim 10, characterized in that, The third determining module includes: A determination submodule is used to determine the first transmission conversion information based on the transmission ratio; The first processing submodule is used to process the first actual position information according to the first transmission conversion information to obtain the second actual position information of the joint model; The second processing submodule is used to process the first actual speed information according to the first transmission conversion information to obtain the second actual speed information of the joint model.

12. The apparatus as claimed in claim 10, characterized in that, The fourth determining module is specifically used for: Based on the expected position information, the expected velocity information, the second actual position information, and the second actual velocity information, the expected torque information of the joint model is determined; Based on the transmission ratio and the desired torque information, the desired control torque of the drive motor is determined; Determine the frictional torque information generated by the drive motor driving the arm joint; The target control torque of the drive motor is generated based on the friction torque information and the desired control torque.

13. The apparatus as claimed in claim 12, characterized in that, The fourth determining module is further configured to: Obtain the position gain and velocity gain of the joint model; The desired location information and the second actual location information are processed according to the location gain to obtain the result location information; The desired speed information and the second actual speed information are processed according to the speed gain to obtain the processing result information; Based on the result location information and the processing result information, the expected torque information of the joint model is generated.

14. The apparatus as claimed in claim 13, characterized in that, The fourth determining module is further configured to: Determine the feedforward torque information corresponding to the joint model; Based on the result location information and the processing result information, generate the torque information to be compensated; The feedforward torque information is used to compensate the torque information to obtain the desired torque information.

15. The apparatus as claimed in claim 12, characterized in that, The fourth determining module is further configured to: Based on the transmission ratio, determine the second transmission conversion information; The desired torque information is processed based on the second transmission conversion information to obtain the desired control torque of the drive motor.

16. The apparatus as claimed in claim 12, characterized in that, The fourth determining module is further configured to: Based on the first actual position information and the first actual speed information of the arm joint, the frictional torque information generated by the drive motor driving the arm joint is determined.

17. The apparatus as claimed in claim 16, characterized in that, The drive motor includes: a first drive motor and a second drive motor; wherein... The frictional torque information includes: Information on the first frictional torque generated by the first drive motor driving the arm joint; Information on the second frictional torque generated by the second drive motor driving the arm joint; Accordingly, the desired control torque includes: The first desired control torque of the first drive motor; The second desired control torque of the second drive motor.

18. The apparatus as claimed in claim 17, characterized in that, The fourth determining module is further configured to: The first desired control torque is compensated based on the first friction torque information to obtain the first target control torque of the first drive motor. The second desired control torque is compensated based on the second friction torque information to obtain the second target control torque of the second drive motor.

19. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the force control method of the robotic arm according to any one of claims 1-9.

20. A robotic arm, characterized in that, The robotic arm includes: The arm joint and differential wheel, wherein the gears driven by different drive motors of the differential wheel have a transmission ratio; and a force control device for the robotic arm as described in any one of claims 10-18.

21. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, in, The computer instructions are used to cause the computer to execute the force control method of the robotic arm according to any one of claims 1-9.

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