Force feedback compensation method, device and robot for multi-gear assembly

Abstract

This application relates to a force feedback compensation method, device, and robot for a multi-gear assembly. The method includes: acquiring a first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand; determining whether coupling torque calculation is needed for each joint on the hand based on a comparison between the first torque difference and a first threshold; if so, acquiring torque fluctuation parameters of the gears corresponding to each joint based on the first joint angle of each joint on the hand, determining the theoretical coupling torque of each joint based on the torque fluctuation parameters, and acquiring a second torque difference between the theoretical coupling torque and the actual joint torque of each joint; when the second torque difference is less than a second threshold, adjusting the force compensation signal of each joint of the master hand corresponding to the slave hand based on the second torque difference. This method enables force feedback compensation with multi-joint information input and single-joint torque feedback output, improving the force feedback compensation accuracy corresponding to the gears of each joint.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a force feedback compensation method, device, and robot for a multi-gear assembly. Background Technology

[0002] Currently, the position control systems of industrial robots basically obtain joint torque information by acquiring sensor torque signals or motor current signals and converting them through a certain transmission ratio. This joint torque information is then input into the robot's control system to perform torque control on each joint.

[0003] In multi-gear driven joint structures, the interaction between gears, due to factors such as the direction of motion and the direction of force, results in torque deviations. This causes the obtained joint torque to be a time-varying value, which cannot be reflected by simple sensor or motor current signal feedback. Existing decoupling algorithms cannot perform calculations based on the state input of each gear and the torque output of a single gear. Ordinary regression models only consider the single input-output correspondence between the motor and the joint torque, and cannot perform torque calculations with multiple inputs and a single output. Summary of the Invention

[0004] Therefore, it is necessary to provide a force feedback compensation method, device, and robot for multi-gear components that can achieve multi-input and single-joint gear torque feedback output under multi-gear coupling conditions, thereby improving the accuracy of force feedback, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a force feedback compensation method for a multi-gear assembly, the method comprising:

[0006] Obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand;

[0007] Based on the comparison results between each of the first torque differences and the first threshold, it is determined whether the coupling torque calculation needs to be performed on each joint corresponding to the hand.

[0008] If so, then based on the torque fluctuation parameters of the gears corresponding to each joint obtained from the first joint angle of each joint on the hand, the theoretical coupling torque of each joint is determined according to the torque fluctuation parameters, and the second torque difference between the theoretical coupling torque of each joint and the actual joint torque is obtained.

[0009] When the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference, and each joint of the master hand and each joint of the slave hand move in tandem.

[0010] In one embodiment, the torque fluctuation parameters include the radial force, velocity, and acceleration of each gear, and determining the theoretical coupling torque of each joint based on the torque fluctuation parameters includes:

[0011] Based on the radial force, velocity, and acceleration of the corresponding gear in each joint, a torque influence coefficient for each gear is generated using a regression function.

[0012] Based on the torque influence coefficients, the frictional force on each gear is determined, and the frictional torque corresponding to the frictional force is superimposed on the theoretical joint torque of the corresponding joint to determine the theoretical coupling torque of the joint.

[0013] In one embodiment, determining the frictional force on each gear based on each of the torque influence coefficients includes:

[0014] According to the torque influence coefficient K ni Determine the frictional force ∑F exerted on each gear n by its adjacent gears n-1 and n+1. tni ,∑F tni =K ni+1 F ni+1 +K ni-1 F ni-1 , where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents the gear corresponding to different joints.

[0015] In one embodiment, determining whether coupling torque calculation is needed for each joint on the hand based on the comparison result of each first torque difference with a first threshold includes:

[0016] If the first torque difference is greater than or equal to the first threshold, then the coupling torque is calculated for the joint corresponding to the hand.

[0017] If the first torque difference is less than the first threshold, then determine whether the first torque difference is less than the second threshold.

[0018] In one embodiment, if the first torque difference is less than the first threshold and the first torque difference is less than the second threshold, then the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the first torque difference.

[0019] If the first torque difference is less than the first threshold and the first torque difference is greater than or equal to the second threshold, then the compensation angle corresponding to the first torque difference is output to the corresponding joint of the hand to obtain the second joint angle of the corresponding joint.

[0020] In one embodiment, after obtaining the second torque difference between the theoretical coupling torque and the actual joint torque of each joint, the method further includes:

[0021] Based on the comparison results between each of the second torque differences and the first threshold, it is determined whether the joints corresponding to the hand need to be matched for the difference.

[0022] If the second torque difference is greater than or equal to the first threshold, the theoretical coupling torque is input into a well-trained preset matching model for difference correction matching, the difference-corrected theoretical coupling torque is output, and the third torque difference between the difference-corrected theoretical coupling torque and the actual joint torque is determined; when the third torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the third torque difference.

[0023] If the second torque difference is less than the first threshold, then when the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference; when the second torque difference is greater than or equal to the second threshold, the compensation angle corresponding to the second torque difference is output to the corresponding joint of the slave hand to obtain the third joint angle of the corresponding joint.

[0024] In one embodiment, obtaining the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand includes:

[0025] Based on the obtained position change matrix between each joint of the hand, the coordinate system of each joint, and the force set of each joint, the theoretical joint torque of each joint of the hand is calculated.

[0026] Based on the actual torque of the motors corresponding to each joint of the hand and the transmission ratio between each motor and each joint, the actual joint torque of each joint of the hand is calculated.

[0027] The first torque difference value is obtained by subtracting the theoretical joint torque from the actual joint torque.

[0028] In one embodiment, before obtaining the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand, the method further includes:

[0029] Based on the input initial joint angles of each joint of the master hand, the actual motor rotation angles generated by the motors corresponding to each joint, the motor compensation angles of each joint relative to the previous adjacent joint, and the coupling relationship between adjacent joints, the first joint angles of each joint of the master hand are determined, wherein the initial joint angles are generated by each joint of the master hand based on the input force signals.

[0030] Secondly, this application also provides a force feedback compensation device for a multi-gear assembly, the device comprising:

[0031] The difference determination module is used to obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand.

[0032] The coupling judgment module is used to determine whether coupling torque calculation is required for each joint corresponding to the hand based on the comparison result between each of the first torque differences and the first threshold.

[0033] If so, then based on the torque fluctuation parameters of the gears corresponding to each joint obtained from the first joint angle of each joint on the hand, the theoretical coupling torque of each joint is determined according to the torque fluctuation parameters, and the second torque difference between the theoretical coupling torque of each joint and the actual joint torque is obtained.

[0034] The feedback compensation module is used to adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the second torque difference when the second torque difference is less than the second threshold, and the joints of the master hand and the joints of the slave hand are linked one by one.

[0035] Thirdly, this application also provides a robot, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the content of the first aspect above.

[0036] The aforementioned force feedback compensation method, device, and robot for multi-gear components obtain a first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand. Based on the comparison result of each first torque difference with a first threshold, it is determined whether each joint corresponding to the hand needs to be coupled torque calculated. If so, the torque fluctuation parameters of the gears corresponding to each joint are obtained based on the first joint angle of each joint on the hand, the theoretical coupling torque of each joint is determined based on the torque fluctuation parameters, and a second torque difference between the theoretical coupling torque and the actual joint torque of each joint is obtained. When the second torque difference is less than a second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference, thereby realizing force feedback compensation of multi-joint information input and single-joint torque feedback output, improving the force feedback compensation accuracy corresponding to each joint gear, and reducing the computational cost. Attached Figure Description

[0037] Figure 1 This is a block diagram of the coupling structure between a hand joint and a corresponding motor in one embodiment;

[0038] Figure 2This is a flowchart illustrating a force feedback compensation method for a multi-gear assembly in one embodiment.

[0039] Figure 3 This is a schematic diagram of the process for obtaining the theoretical coupling torque in S202 of one embodiment;

[0040] Figure 4 This is a schematic diagram of the process for determining whether to perform coupling torque calculation in step S202 of one embodiment;

[0041] Figure 5 This is a flowchart illustrating a force feedback compensation method for a multi-gear assembly in an example embodiment.

[0042] Figure 6 This is a structural block diagram of a force feedback compensation device for a multi-gear assembly in one embodiment. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0045] In one embodiment, a robot is provided, comprising a master-slave servo system composed of multi-gear assemblies. The master-slave servo system includes a master hand and a slave hand, each containing multiple joints. Each joint of the slave hand is equipped with a motor to control the rotation of the gears on that joint. The transmission ratio between each joint of the slave hand and the motor is preset, and the rotation directions of each joint of the master hand correspond one-to-one with those of each joint of the slave hand. Figure 1 As shown, the robot provides a coupling structure between each joint on its hand and its corresponding motor. Motors 1 to 7 are respectively configured on joint 1 to joint 7 to control the rotation of gears on each joint. The robot also includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement a force feedback compensation method for the multi-gear assembly.

[0046] In one embodiment, such as Figure 2 As shown, a force feedback compensation method for a multi-gear assembly is provided, including the following steps:

[0047] S201, obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand.

[0048] When the joints of the master hand generate joint angles due to force input, the corresponding joints of the slave hand will also generate joint angle changes through motor control. However, due to the transmission ratio between the motor and the joints of the slave hand, under load conditions, there is a first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint of the slave hand.

[0049] S202, based on the comparison results of each first torque difference and the first threshold, determine whether each joint corresponding to the hand needs to be coupled torque calculated; if so, obtain the torque fluctuation parameters of the gears corresponding to each joint based on the first joint angle of each joint from the hand, determine the theoretical coupling torque of each joint based on the torque fluctuation parameters, and obtain the second torque difference between the theoretical coupling torque of each joint and the actual joint torque.

[0050] The first threshold is a preset threshold for the difference between the theoretical joint torque and the actual joint torque of each joint in the hand. When the first torque difference is greater than or equal to the first threshold, the joint corresponding to the first torque difference needs to be coupled with torque calculation; when the first torque difference is less than the first threshold, the joint corresponding to the first torque difference does not need to be coupled with torque calculation.

[0051] Specifically, the coupling torque of each joint of the hand is calculated by comparing the first torque difference with the first threshold, the theoretical joint torque of the joint is updated to the theoretical coupling torque, and then the second torque difference between the theoretical coupling torque and the actual joint torque of each joint of the hand is obtained.

[0052] S203, when the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference, and each joint of the master hand and each joint of the slave hand are linked together.

[0053] The second threshold is a set feedback difference threshold for each joint of the master hand. When the second torque difference is less than the second threshold, the force compensation signal fed back to the corresponding joint of the master hand is adjusted according to the second torque difference to realize the feedback output of the single-joint gear torque.

[0054] In the force feedback compensation method of the above-mentioned multi-gear assembly, a first torque difference is obtained between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand. Based on the comparison result of each first torque difference with a first threshold, it is determined whether each joint on the hand needs to be coupled to a torque. If so, the torque fluctuation parameters of the gears corresponding to each joint are obtained based on the first joint angle of each joint on the hand. The theoretical coupling torque of each joint is determined based on the torque fluctuation parameters, and a second torque difference is obtained between the theoretical coupling torque and the actual joint torque of each joint. When the second torque difference is less than a second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference. This realizes force feedback compensation of multiple related inputs and single-joint gear torque feedback output, improves the force feedback compensation accuracy of the joints corresponding to each gear, and reduces the computational cost.

[0055] In one embodiment, the torque fluctuation parameters include the radial force, velocity, and acceleration of each gear, such as... Figure 3 As shown, the determination of the theoretical coupling torque of each joint based on the torque fluctuation parameters in S202 specifically includes the following steps:

[0056] S301, based on the radial force, velocity and acceleration of the corresponding gear in each joint, a torque influence coefficient of each gear is generated using a regression function.

[0057] S302, based on the torque influence coefficients, determine the frictional force on each gear, and add the frictional torque corresponding to the frictional force to the theoretical joint torque of the corresponding joint to determine the theoretical coupling torque of the joint.

[0058] Specifically, according to the torque influence coefficient K ni Determine the frictional force ∑F exerted on each gear n by its adjacent gears n-1 and n+1. tni ,

[0059] ∑F tni =K ni+1 Fni+1 +K ni-1 F ni-1 ,

[0060] Where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents the gear corresponding to different joints.

[0061] In this embodiment, based on the radial force, velocity, and acceleration of the gears at each joint of the hand, the torque influence coefficient of each joint gear is determined. The friction torque of each joint gear is determined using the torque influence coefficient. The friction torque is then superimposed on the theoretical joint torque of the corresponding joint to obtain the theoretical coupling torque of each joint, thus realizing the calculation of the coupling torque of each joint of the hand.

[0062] In one embodiment, such as Figure 4 As shown, in step S202, determining whether coupling torque calculation is needed for each joint corresponding to the hand based on the comparison results of each first torque difference and the first threshold specifically includes the following steps:

[0063] S401, if the first torque difference is greater than or equal to the first threshold, then the coupling torque is calculated for the joint corresponding to the hand.

[0064] S402, if the first torque difference is less than the first threshold, then determine whether the first torque difference is less than the second threshold.

[0065] If the first torque difference is less than the first threshold and less than the second threshold, then the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the first torque difference. If the first torque difference is less than the first threshold and greater than or equal to the second threshold, then the compensation angle corresponding to the first torque difference is output to the corresponding joint of the slave hand to obtain the second joint angle of the corresponding joint.

[0066] In this embodiment, when the first torque difference is greater than or equal to the first threshold, coupling torque calculation is performed on the joint corresponding to the slave hand. When the first torque difference is less than the first threshold, coupling torque calculation is not required. By setting a second threshold, based on the comparison result between the first torque difference and the second threshold, it is determined whether to provide a force compensation signal to the master hand joint corresponding to the slave hand joint.

[0067] In one embodiment, after obtaining the second torque difference between the theoretical coupling torque and the actual joint torque of each joint in S202, the method further includes the following steps:

[0068] S501, based on the comparison results of each second torque difference with the first threshold, determine whether the joints corresponding to the hand need to be matched for difference.

[0069] S502, if the second torque difference is greater than or equal to the first threshold, the theoretical coupling torque is input into the fully trained preset matching model for difference correction matching, the theoretical coupling torque after difference correction is output, and the third torque difference between the theoretical coupling torque after difference correction and the actual joint torque is determined; when the third torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the third torque difference.

[0070] The fully trained preset matching model can perform difference correction matching between the input theoretical coupling torque and the actual joint torque of the joint corresponding to the theoretical coupling torque, thereby reducing the third torque difference between the theoretical coupling torque and the actual joint torque after difference correction. It should be noted that the third torque difference obtained by the preset matching model is less than the first threshold, so it is only necessary to determine the relationship between the third torque difference and the second threshold.

[0071] Optionally, when the third torque difference is less than the first threshold and less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the third torque difference. When the third torque difference is less than the first threshold and greater than or equal to the second threshold, the compensation angle corresponding to the third torque difference is output to the corresponding joint of the slave hand.

[0072] S503, if the second torque difference is less than the first threshold, then when the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference; when the second torque difference is greater than or equal to the second threshold, the compensation angle corresponding to the second torque difference is output to the corresponding joint of the slave hand to obtain the third joint angle of the corresponding joint.

[0073] In this embodiment, when the second torque difference obtained using the theoretical coupling torque is still greater than or equal to the first threshold, a preset matching model is introduced to accelerate the acquisition of the torque difference, reduce computational costs, and further improve the efficiency of force feedback compensation at each joint.

[0074] In one embodiment, S201 obtains the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand, specifically including the following steps:

[0075] S601, based on the obtained position change matrix between each joint of the hand, the coordinate system of each joint, and the force set of each joint, the theoretical joint torque of each joint of the hand is calculated.

[0076] Based on the position change matrix between the joints of the hand, the coordinate system of each joint, and the force set of each joint, the joint coordinate system parameters, the spatial position parameters of the center of mass of each joint in the coordinate system, and the force parameters are determined, and the theoretical joint torque of each joint of the hand is calculated.

[0077] S602, based on the actual torque of the motors corresponding to each joint of the hand and the transmission ratio between each motor and each joint, the actual joint torque of each joint of the hand is calculated.

[0078] S603, the difference between the theoretical joint torque and the actual joint torque is calculated to obtain the first torque difference value.

[0079] In this embodiment, the first torque difference between the theoretical and actual joint torques of each hand joint is obtained by calculating the theoretical joint torque and the actual joint torque.

[0080] In one embodiment, before obtaining the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand in step S201, the method further includes:

[0081] Based on the input initial joint angles of each joint of the master hand, the actual motor rotation angles generated by the motors corresponding to each joint, the motor compensation angles of each joint relative to the previous adjacent joint, and the coupling relationship between adjacent joints, the first joint angles of each joint of the master hand are determined, wherein the initial joint angles are generated by each joint of the master hand based on the input force signals.

[0082] The coupling relationship between adjacent joints includes driven coupling and transmission coupling. Two joints with driven coupling have motors with opposite self-driven rotation directions, while two joints with transmission coupling have motors with the same self-driven rotation direction. Therefore, the coupling relationship between adjacent joints affects the direction of rotation of each joint relative to the motor compensation angle of the previous adjacent joint.

[0083] Specifically, each joint of the master hand generates an initial joint angle based on the input force signal. According to the linkage relationship between the joints of the master and slave hands, the corresponding initial joint angle is obtained from each joint of the slave hand. Since each joint of the slave hand is controlled by a motor, the first joint angle output by each joint of the slave hand is determined according to the actual rotation angle of the motor and the motor compensation angle.

[0084] In one example embodiment, a force feedback compensation method for a multi-gear assembly is provided, applicable to, for example... Figure 1The diagram shows the coupling structure between the hand joints and the corresponding motors, where n represents each joint of the hand, n∈{1,2,3,4,5,6,7}. The flowchart is shown below. Figure 5 As shown, the specific steps include:

[0085] S1, based on the force signals input from each joint of the master hand, outputs the initial joint angles θ of each joint of the master hand. n .

[0086] S2, based on the initial joint angles θ input from each joint of the hand. n Obtain the actual motor rotation angle rθ of the motor corresponding to each joint n of the hand. n and motor compensation angle Rθ n Output the angle θ of the first joint of each hand joint n. n '.

[0087] S3. Based on the obtained position change matrix R between each joint n of the hand, the coordinate system P(X,Y) of each joint, and the force set F of each joint, the theoretical joint torque of each joint n of the hand is calculated.

[0088] S4. Based on the actual torque of the motor corresponding to each joint n of the hand and the transmission ratio between each motor and each joint, the actual joint torque of each joint n of the hand is calculated.

[0089] S5, the difference between the theoretical joint torque and the actual joint torque is calculated to obtain the first torque difference value e1.

[0090] If the first torque difference e1 is greater than or equal to the first threshold E1, then the coupling torque of S6 is calculated for the corresponding joint on the hand.

[0091] If the first torque difference e1 is less than the first threshold E1, then it is determined whether the first torque difference is less than the second threshold E2. Specifically, if the first torque difference e1 is less than both the first threshold E1 and the second threshold E2, the force compensation signals for each joint of the master hand corresponding to the slave hand are adjusted according to the first torque difference e1. If the first torque difference e1 is less than the first threshold E1 and greater than or equal to the second threshold E2, then the compensation angle corresponding to the first torque difference is output to the corresponding joint of the slave hand to obtain the second joint angle of the corresponding joint.

[0092] S6, based on the radial force F acting on the corresponding gears in each joint of the hand. n Speed ​​V θn and acceleration V' θn Using a regression function, the torque influence coefficient K for each gear n is generated. ni According to the torque influence coefficient K niDetermine the frictional forces ∑F exerted on each gear n by its adjacent gears n-1 and n+1. tni ,

[0093] ∑F tni =K ni+1 F ni+1 +K ni-1 F ni-1 ,

[0094] Where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents gears at different joints.

[0095] The frictional force ∑F of each joint of the hand tni The corresponding frictional torque is superimposed on the corresponding theoretical joint torque to obtain the theoretical coupling torque of each joint of the hand. The second torque difference e2 between the theoretical coupling torque and the actual joint torque of each joint of the hand is calculated.

[0096] S7. Based on the comparison result between the second torque difference e2 and the first threshold E1, determine whether the corresponding joint on the hand needs to be matched for the difference.

[0097] If the second torque difference e2 is greater than or equal to the first threshold E1, the theoretical coupling torque is input into the well-trained preset matching model for difference correction matching, the theoretical coupling torque after difference correction is output, and the third torque difference e3 between the theoretical coupling torque after difference correction and the actual joint torque is determined. When the third torque difference e3 is less than the second threshold E2, the force compensation signal of the master hand joint corresponding to the slave hand joint is adjusted according to the third torque difference e3.

[0098] If the second torque difference e2 is less than the first threshold E1, then when the second torque difference e2 is less than the second threshold E2, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference e2; when the second torque difference e2 is greater than or equal to the second threshold E2, the compensation angle corresponding to the second torque difference e2 is output to the corresponding joint of the slave hand to obtain the third joint angle of the corresponding joint.

[0099] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0100] Based on the same inventive concept, this application also provides a force feedback compensation device for a multi-gear assembly to implement the force feedback compensation method for the multi-gear assembly described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the force feedback compensation device for a multi-gear assembly provided below can be found in the limitations of the force feedback compensation method for the multi-gear assembly described above, and will not be repeated here.

[0101] In one embodiment, such as Figure 6 As shown, a force feedback compensation device for a multi-gear assembly is provided, comprising: a difference determination module 61, a coupling judgment module 62, and a feedback compensation module 63, wherein:

[0102] The difference determination module 61 is used to obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand.

[0103] The coupling judgment module 62 is used to determine whether each joint corresponding to the hand needs to be coupled torque calculated based on the comparison result of each first torque difference and the first threshold. If so, the torque fluctuation parameters of the gear corresponding to each joint are obtained based on the first joint angle of each joint of the hand, the theoretical coupling torque of each joint is determined based on the torque fluctuation parameters, and the second torque difference between the theoretical coupling torque and the actual joint torque of each joint is obtained.

[0104] The feedback compensation module 63 is used to adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the second torque difference when the second torque difference is less than the second threshold, and the joints of the master hand and the joints of the slave hand are linked one by one.

[0105] In one embodiment, the coupling determination module 62 is further configured to: generate a torque influence coefficient for each gear based on the radial force, velocity, and acceleration of the corresponding gear in each joint using a regression function; determine the frictional force on each gear based on the torque influence coefficient, and superimpose the frictional torque corresponding to the frictional force into the theoretical joint torque of the corresponding joint to determine the theoretical coupling torque of the joint.

[0106] In one embodiment, the coupling determination module 62 is further configured to: determine the torque influence coefficient K based on the torque influence coefficient K. ni Determine the frictional force ∑F exerted on each gear n by its adjacent gears n-1 and n+1. tni ,∑F tni =K ni+1 F ni+1 +K ni-1 F ni-1 , where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents the gear corresponding to different joints.

[0107] In one embodiment, the coupling judgment module 62 is further configured to: if the first torque difference is greater than or equal to the first threshold, calculate the coupling torque for the joint corresponding to the hand; if the first torque difference is less than the first threshold, determine whether the first torque difference is less than the second threshold.

[0108] In one embodiment, the coupling judgment module 62 is further configured to: if the first torque difference is less than the first threshold and the first torque difference is less than the second threshold, adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the first torque difference; if the first torque difference is less than the first threshold and the first torque difference is greater than or equal to the second threshold, output the compensation angle corresponding to the first torque difference to the corresponding joint of the slave hand to obtain the second joint angle of the corresponding joint.

[0109] In one embodiment, the coupling judgment module 62 is further configured to: determine whether the joints corresponding to the slave hand need to be matched for difference based on the comparison results of each second torque difference with the first threshold; if the second torque difference is greater than or equal to the first threshold, input the theoretical coupling torque into a well-trained preset matching model for difference correction matching, output the theoretical coupling torque after difference correction, and determine the third torque difference between the theoretical coupling torque after difference correction and the actual joint torque; when the third torque difference is less than the second threshold, adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the third torque difference; if the second torque difference is less than the first threshold, adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the second torque difference; when the second torque difference is greater than or equal to the second threshold, output the compensation angle corresponding to the second torque difference to the corresponding joint of the slave hand to obtain the second joint angle of the corresponding joint.

[0110] In one embodiment, the difference determination module 61 is further configured to: calculate the theoretical joint torque of each joint of the slave hand based on the obtained position change matrix between each joint of the slave hand, the coordinate system of each joint, and the force set of each joint; calculate the actual joint torque of each joint of the slave hand based on the collected actual torque of the motor corresponding to each joint of the slave hand and the transmission ratio between each motor and each joint; and subtract the theoretical joint torque from the actual joint torque to obtain the first torque difference value.

[0111] In one embodiment, the difference determination module 61 is further configured to: determine the first joint angle of each joint of the secondary hand based on the input initial joint angle of each joint of the secondary hand, the actual motor rotation angle generated by the motor corresponding to each joint, the motor compensation rotation angle of each joint to the previous adjacent joint, and the coupling relationship between adjacent joints, wherein the initial joint angle is generated by each joint of the primary hand based on the input force signal.

[0112] Each module in the force feedback compensation device of the aforementioned multi-gear assembly can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0113] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A force feedback compensation method for a multi-gear assembly, characterized in that, The method includes: Obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand; Based on the comparison results between each of the first torque differences and the first threshold, it is determined whether the coupling torque calculation needs to be performed on each joint corresponding to the hand. If so, then based on the torque fluctuation parameters of the gears corresponding to each joint obtained from the first joint angle of each joint on the hand, the theoretical coupling torque of each joint is determined according to the torque fluctuation parameters, and the second torque difference between the theoretical coupling torque of each joint and the actual joint torque is obtained. When the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference, and each joint of the master hand and each joint of the slave hand are linked together. The torque fluctuation parameters include the radial force, velocity, and acceleration of each gear, and determining the theoretical coupling torque of each joint based on the torque fluctuation parameters includes: Based on the radial force, velocity, and acceleration of the corresponding gear in each joint, a torque influence coefficient for each gear is generated using a regression function. Based on the torque influence coefficients, the frictional force on each gear is determined, and the frictional torque corresponding to the frictional force is superimposed on the theoretical joint torque of the corresponding joint to determine the theoretical coupling torque of the joint. The determination of the frictional force on each gear based on the torque influence coefficients includes: According to the torque influence coefficient K ni It is determined that each gear n experiences frictional forces from adjacent gears n-1 and n+1. , , where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents the gear corresponding to different joints.

2. The force feedback compensation method for a multi-gear assembly according to claim 1, characterized in that, The step of determining whether coupling torque calculation is needed for each joint on the hand based on the comparison results of each first torque difference and the first threshold includes: If the first torque difference is greater than or equal to the first threshold, then the coupling torque is calculated for the joint corresponding to the hand. If the first torque difference is less than the first threshold, then determine whether the first torque difference is less than the second threshold.

3. The force feedback compensation method for a multi-gear assembly according to claim 2, characterized in that, If the first torque difference is less than the first threshold and the first torque difference is less than the second threshold, then the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the first torque difference. If the first torque difference is less than the first threshold and the first torque difference is greater than or equal to the second threshold, then the compensation angle corresponding to the first torque difference is output to the corresponding joint of the hand to obtain the second joint angle of the corresponding joint.

4. The force feedback compensation method for a multi-gear assembly according to claim 1, characterized in that, After obtaining the second torque difference between the theoretical coupling torque and the actual joint torque of each joint, the method further includes: Based on the comparison results between each of the second torque differences and the first threshold, it is determined whether the joints corresponding to the hand need to be matched for the difference. If the second torque difference is greater than or equal to the first threshold, the theoretical coupling torque is input into a well-trained preset matching model for difference correction matching, the difference-corrected theoretical coupling torque is output, and the third torque difference between the difference-corrected theoretical coupling torque and the actual joint torque is determined; when the third torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the third torque difference. If the second torque difference is less than the first threshold, then when the second torque difference is less than the second threshold, the force compensation signal of each joint of the master hand corresponding to the slave hand is adjusted according to the second torque difference; when the second torque difference is greater than or equal to the second threshold, the compensation angle corresponding to the second torque difference is output to the corresponding joint of the slave hand to obtain the third joint angle of the corresponding joint.

5. The force feedback compensation method for a multi-gear assembly according to claim 1, characterized in that, The step of obtaining the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand includes: Based on the obtained position change matrix between each joint of the hand, the coordinate system of each joint, and the force set of each joint, the theoretical joint torque of each joint of the hand is calculated. Based on the actual torque of the motors corresponding to each joint of the hand and the transmission ratio between each motor and each joint, the actual joint torque of each joint of the hand is calculated. The first torque difference value is obtained by subtracting the theoretical joint torque from the actual joint torque.

6. The force feedback compensation method for a multi-gear assembly according to claim 1, characterized in that, Before obtaining the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand, the method further includes: Based on the input initial joint angles of each joint of the master hand, the actual motor rotation angles generated by the motors corresponding to each joint, the motor compensation angles of each joint relative to the previous adjacent joint, and the coupling relationship between adjacent joints, the first joint angles of each joint of the master hand are determined, wherein the initial joint angles are generated by each joint of the master hand based on the input force signals.

7. A force feedback compensation device for a multi-gear assembly, characterized in that, The device includes: The difference determination module is used to obtain the first torque difference between the theoretical joint torque and the actual joint torque corresponding to the first joint angle of each joint on the hand. The coupling judgment module is used to determine whether coupling torque calculation is required for each joint corresponding to the hand based on the comparison result between each of the first torque differences and the first threshold. If so, then based on the torque fluctuation parameters of the gears corresponding to each joint obtained from the first joint angle of each joint on the hand, the theoretical coupling torque of each joint is determined according to the torque fluctuation parameters, and the second torque difference between the theoretical coupling torque of each joint and the actual joint torque is obtained. The feedback compensation module is used to adjust the force compensation signal of each joint of the master hand corresponding to the slave hand according to the second torque difference when the second torque difference is less than the second threshold, and the joints of the master hand and the joints of the slave hand are linked one by one. The coupling determination module is further configured to: generate torque influence coefficients for each gear based on the radial force, velocity, and acceleration of the corresponding gears in each joint using a regression function; determine the frictional force on each gear based on the torque influence coefficients, and superimpose the frictional torque corresponding to the frictional force onto the theoretical joint torque of the corresponding joint to determine the theoretical coupling torque of the joint; and determine the theoretical coupling torque of the joint based on the torque influence coefficient K. ni It is determined that each gear n experiences frictional forces from adjacent gears n-1 and n+1. , , where i∈{1,2,3}, i is the label of radial force, velocity and acceleration in the torque fluctuation parameters, and n represents the gear corresponding to different joints.

8. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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