Robot end control method, device and computer equipment

Abstract

The application relates to a robot end control method, device and computer equipment. The method comprises the following steps: acquiring a machining request for a workpiece and a preset joint trajectory model; determining an initial machining path of the workpiece in a Cartesian space, the initial machining path comprising a plurality of actual path positions; determining a theoretical joint position of the actual path position in a joint space according to the joint trajectory model, and determining a theoretical path position of the theoretical joint position in the Cartesian space; and correcting the initial machining path through the actual path position and the theoretical path position. The method can effectively ensure that the robot end runs at a specified speed and improves path accuracy.

Description

Technical Field

[0001] This application relates to the field of industrial robot control, and in particular to a robot end-effector control method, apparatus and computer equipment. Background Technology

[0002] Motion planning, as an important component of industrial robot control technology, has gradually become a popular research direction. For example, in processes such as continuous welding and painting, it is not only necessary to ensure that the end effector of the industrial robot moves along a predetermined path, but also to ensure that the end effector moves at a specified speed in order to obtain good surface quality.

[0003] Current robot trajectories consist of a series of discrete points. Robot teach pendants can only provide an overall robot speed, rather than effectively controlling the robot's end effector speed directly. This results in the end effector failing to operate at the specified speed in actual production, thus compromising surface quality. Furthermore, various external factors often cause errors, leading to deviations from the set position or orientation. Therefore, achieving precise control of the robot's end effector is a key research focus at this stage. Summary of the Invention

[0004] Based on this, the purpose of this application is to provide a robot end-effector control method, device and computer equipment that can accurately control the robot end-effector, so as to solve the technical problem of the motion path deviating from the ideal position.

[0005] Firstly, this application provides a robot end-effector control method. It includes:

[0006] Obtain the machining request for the workpiece and the preset joint trajectory model;

[0007] Determine the initial machining path for the workpiece in Cartesian space, which includes multiple actual path positions;

[0008] Based on the joint trajectory model, determine the theoretical joint position in the joint space of the actual path position, and determine the theoretical path position in the Cartesian space of the theoretical joint position;

[0009] The initial processing path is corrected based on the actual path location and the theoretical path location.

[0010] In one embodiment, determining the theoretical joint position of the actual path position in the joint space based on the joint trajectory model includes: determining the initial velocity of the robot end effector on the initial processing path and the joint velocity corresponding to the initial velocity; and determining the theoretical joint position of the actual path position in the joint space based on the joint velocity and the joint trajectory model.

[0011] In one embodiment, determining the theoretical path position of the theoretical joint position in Cartesian space includes: obtaining the forward kinematics model corresponding to the robot end effector; the forward kinematics model is determined by the POE modeling method; and the theoretical joint position is converted into a theoretical path position in Cartesian space using the forward kinematics model.

[0012] In one embodiment, correcting the initial processing path using the actual path position and the theoretical path position includes: obtaining a dynamic path modification model and determining the maximum allowable offset of the initial processing path; the dynamic path modification model includes at least an offset calculation mode and a channel input mode; determining the actual offset between the actual path position and the theoretical path position based on the offset calculation mode; and correcting the initial processing path based on the channel input mode and the maximum offset.

[0013] In one embodiment, correcting the initial processing path based on the channel input mode and the maximum offset includes: determining a target correction speed allowed for the initial processing path when the channel input mode indicates that the actual offset is directly read and stored in a register; and correcting the initial processing path according to the target correction speed, using the joint trajectory model and the maximum offset as constraints.

[0014] In one embodiment, the dynamic path modification model further includes a correction mode, a tracking direction, and a tracking mode; the method further includes: correcting the initial processing path based on the correction mode, the tracking direction, and the tracking mode.

[0015] In one embodiment, the method for constructing a joint trajectory model includes: determining multiple sample path points collected within a preset time period; the sample path points being located in Cartesian space; converting each sample path point into a joint path point in joint space using the inverse kinematics model corresponding to the robot end effector; and performing interpolation planning between the joint path points using a target interpolation algorithm to obtain the joint trajectory model corresponding to the robot end effector.

[0016] Secondly, this application also provides a robot end effector control device. It includes:

[0017] The actual path position determination module is used to obtain the processing request for the workpiece and the preset joint trajectory model; and to determine the initial processing path of the workpiece in Cartesian space, which includes multiple actual path positions.

[0018] The theoretical path position determination module is used to determine the theoretical joint position in the joint space of the actual path position based on the joint trajectory model, and to determine the theoretical path position in the Cartesian space of the theoretical joint position.

[0019] The initial processing path correction module is used to correct the initial processing path based on the actual path position and the theoretical path position.

[0020] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0021] Obtain the machining request for the workpiece and the preset joint trajectory model;

[0022] Determine the initial machining path for the workpiece in Cartesian space, which includes multiple actual path positions;

[0023] Based on the joint trajectory model, determine the theoretical joint position in the joint space of the actual path position, and determine the theoretical path position in the Cartesian space of the theoretical joint position;

[0024] The initial processing path is corrected based on the actual path location and the theoretical path location.

[0025] The aforementioned robot end-effector control method, apparatus, and computer equipment determine an initial machining path for the workpiece in Cartesian space, which includes multiple actual path positions, by acquiring the machining request for the workpiece and a preset joint trajectory model. When the theoretical joint positions in joint space are determined based on the joint trajectory model, and the theoretical path positions in Cartesian space are also determined based on the theoretical joint positions, the initial machining path can be corrected using both the actual and theoretical path positions. Because this invention directly converts the specified actual path position of the robot end-effector into a theoretical joint position in joint space based on the workpiece's machining request, and then combines the joint trajectory model obtained through a target interpolation algorithm with a dynamic path modification model, real-time correction of the machining path is performed, effectively ensuring that the robot end-effector runs at a specified speed and improving the accuracy of path correction. Attached Figure Description

[0026] Figure 1 This is an application environment diagram of a robot end-effector control method in one embodiment;

[0027] Figure 2 This is a flowchart illustrating a robot end-effector control method in one embodiment;

[0028] Figure 3This is a flowchart illustrating the process of determining a dynamic path modification model in one embodiment.

[0029] Figure 4 This is a flowchart illustrating the robot end-effector control method in another embodiment;

[0030] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0031] 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.

[0032] The robot end-effector control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. Terminal 102 can be a robot with different degrees of freedom, also known as a robot end effector, such as a FANUC robot. Server 104 is used to obtain the processing request for the workpiece and the preset joint trajectory model; determine the initial processing path of the workpiece in Cartesian space, including multiple actual path positions. Server 104 is also used to determine the theoretical joint positions of the actual path positions in joint space based on the joint trajectory model, and determine the theoretical path positions of the theoretical joint positions in Cartesian space; and correct the initial processing path based on the actual path positions and theoretical path positions, so that terminal 102 processes the workpiece according to the corrected initial processing path. Server 104 is used to control the movement of the robot end effector, and can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0033] In one embodiment, such as Figure 2 As shown, a robot end-effector control method is provided, which can be applied to... Figure 1 The server in the middle includes the following steps:

[0034] Step 202: Obtain the machining request for the workpiece and the preset joint trajectory model.

[0035] The joint trajectory model is obtained by processing the joint path points using a target interpolation algorithm; the joint trajectory model includes a position model, a velocity model, and an acceleration model.

[0036] Specifically, in response to a user's trigger operation for workpiece processing, the server receives a processing request for the workpiece, enabling the server to control the robot's end effector to process the workpiece. The server retrieves pre-trained joint trajectory models from a pre-set database.

[0037] In one embodiment, the server may be a host computer, which includes a robot teach pendant. The robot teach pendant integrates a teaching program, such as a TP program. The TP program indicates that when the user triggers the host computer, a signal is received from the host computer, and then the relevant parameters of the robot end effector are transmitted to the host computer.

[0038] In one embodiment, a host computer program is built in the host computer using the TCP / IP protocol, thereby establishing communication between the host computer and the robot end effector.

[0039] Step 204: Determine the initial machining path of the workpiece in Cartesian space, which includes multiple actual path positions.

[0040] Specifically, before the server controls the robot's end effector to perform processing, the server needs to use a 3D structured light camera to photograph the surface of the workpiece and collect relevant data. Then, using 3D image algorithms, it extracts the initial processing path of the workpiece in Cartesian space, as well as multiple actual path positions within that initial processing path. For example, the actual path position is P. k (x k ,y k ,z k ,w k ,p k ,r k ), k = 0, 1, ..., N, where N is the total number of actual path locations, that is, the total number of actual path points.

[0041] Step 206: Based on the joint trajectory model, determine the theoretical joint position in the joint space of the actual path position, and determine the theoretical path position in the Cartesian space of the theoretical joint position.

[0042] Specifically, the server acquires the actual path position P of the robot's end effector in Cartesian space at each interpolation cycle T. now (x now ,y now ,z now ,w now ,p now ,r now After that, the theoretical joint position q can be determined using the pre-built joint trajectory model. now (θ 1now ,θ 2now ,…,θ (n-1)now ,θ nnow The server performs coordinate transformation on the theoretical joint positions in joint space to obtain the theoretical path positions P in Cartesian space. the (x the ,y the ,z the ,wthe ,p the ,r the ).

[0043] In one embodiment, the server transmits the theoretical joint positions to the robot control cabinet, thereby controlling the robot to move according to the initial processing path.

[0044] In one embodiment, determining the theoretical path position of the theoretical joint in Cartesian space includes: obtaining the forward kinematics model corresponding to the robot end effector; and converting the theoretical joint position into the theoretical path position in Cartesian space using the forward kinematics model.

[0045] Among them, the positive kinematics model is determined by the POE modeling method; positive kinematics is used to characterize the process of converting coordinates in joint space to coordinates in Cartesian space.

[0046] In one embodiment, the process of establishing a forward kinematics model using the POE modeling method is as follows:

[0047]

[0048] Where T represents the robot end-effector pose matrix, which can be converted to P(x,y,z,w,p,r); M represents the robot end-effector pose matrix at the initial position; n represents the robot degrees of freedom; S i Let i represent the screw coordinates of joint i in the base coordinate system, where i = 0, 1, ..., n.

[0049] Step 208: Correct the initial processing path by comparing the actual path location with the theoretical path location.

[0050] Specifically, the server calculates the actual offset (Δx, Δy, Δz, Δw, Δp, Δr) between the actual path position and the theoretical path position, and corrects the actual path position based on the actual offset to achieve the theoretical path position. After obtaining the corrected initial machining path, the server continues to control the robot's end effector movement according to the machining request.

[0051] In the aforementioned robot end-effector control method, by acquiring the workpiece's processing request and a preset joint trajectory model, an initial processing path containing multiple actual path positions in Cartesian space is determined. When the theoretical joint positions in joint space are determined based on the joint trajectory model, and the theoretical path positions in Cartesian space are also determined based on the theoretical joint positions, the initial processing path can be corrected using both the actual and theoretical path positions. Because this invention directly converts the specified actual path position of the robot end-effector into a theoretical joint position in joint space based on the workpiece's processing request, and then combines the joint trajectory model obtained through a target interpolation algorithm with a dynamic path modification model, real-time correction of the processing path is performed. This effectively ensures that the robot end-effector reaches the accurate position at a specified speed in each interpolation cycle, improving the accuracy of path correction.

[0052] In one embodiment, determining the theoretical joint position of the actual path position in the joint space based on the joint trajectory model includes: determining the initial velocity of the robot end effector on the initial processing path and the joint velocity corresponding to the initial velocity; and determining the theoretical joint position of the actual path position in the joint space based on the joint velocity and the joint trajectory model.

[0053] Specifically, the processing request for the workpiece typically includes the initial velocity of the robot end effector on the initial processing path. For example, the processing request may be for the robot end effector to move at a constant speed along the path at a preset speed. The server will then transmit the initial velocity v of the robot end effector. k Convert to joint velocity Among them, it can be accessed through Perform the conversion, J k Let be the Jacobian matrix of the robot, k = 0, 1, ..., N. The joint trajectory model is shown below:

[0054] q k =a k0 +a k1 (tt k )+a k2 (tt k ) 2 +a k3 (tt k ) 3

[0055]

[0056]

[0057] in, The velocity model corresponding to the joint velocity. For the acceleration model corresponding to joint acceleration, a k0 a k1a k2 a k3 These are the curve coefficients for the target interpolation algorithm. The server substitutes the joint velocities into the joint trajectory model to determine the theoretical joint positions in joint space.

[0058] In one embodiment, the method for constructing a joint trajectory model includes: determining multiple sample path points collected within a preset time period; converting each sample path point into a joint path point in the joint space using the inverse kinematics model corresponding to the robot end effector; and performing interpolation planning between the joint path points using a target interpolation algorithm to obtain the joint trajectory model corresponding to the robot end effector.

[0059] In this embodiment, the sample path points are located in Cartesian space; the inverse kinematics model can be derived by combining the forward kinematics model with the analytical method; the inverse kinematics model represents the process of converting coordinates in Cartesian space to coordinates in joint space; the target interpolation algorithm can be a cubic spline interpolation algorithm, or a quintic spline interpolation algorithm, a septonic spline interpolation algorithm, a hybrid spline interpolation algorithm, etc., and this embodiment does not impose any restrictions.

[0060] Specifically, after determining the multiple sample path points collected within a preset time period, the server can use the inverse kinematics model to convert the sample path points P in Cartesian space into their corresponding values. k (x k ,y k ,z k ,w k ,p k ,r k Convert ) to joint path point q in joint space k (θ 1k ,θ 2k ,…,θ (n-1)k ,θ nk ), where k = 0, 1, ..., N, i = 0, 1, ..., n. The server uses a target interpolation algorithm to perform interpolation planning between two adjacent joint path points, thus obtaining the joint trajectory model corresponding to the robot's end effector.

[0061] In this embodiment, based on the processing request for the workpiece, the initial velocity of the specified robot end effector can be converted into joint velocity through the Jacobian matrix, and then a joint trajectory model can be constructed through the target interpolation algorithm. This allows the processing path to be corrected in real time after the joint trajectory model is combined with the dynamic path modification model, effectively ensuring that the robot end effector runs at the specified speed.

[0062] In one embodiment, correcting the initial processing path using the actual path position and the theoretical path position includes: obtaining a dynamic path modification model and determining the maximum allowable offset of the initial processing path; determining the actual offset between the actual path position and the theoretical path position according to the offset calculation mode; and correcting the initial processing path according to the channel input mode and the maximum offset.

[0063] The dynamic path modification model includes at least an offset calculation mode and a channel input mode. The dynamic path modification model (DPM) is a robot system software function of FANUC, used to modify the path or target position in real time based on external signal information. The maximum offset max_lim is obtained by the user's preset setting. The offset calculation mode includes cumulative type and overlay type. The channel input mode includes AI_TYPE, GI_TYPE, BI_TYPE, and SV_TYPE.

[0064] Specifically, when the server determines that the offset calculation mode is overlay type, the offset stored in the position register will be updated according to the actual offset each time. When the channel input mode is SV_TYPE, the server directly stores the obtained actual offset in the register, so that the initial processing path can be corrected according to the actual offset and the maximum offset.

[0065] Furthermore, the initial machining path is corrected based on the channel input mode and the maximum offset, including: when the channel input mode indicates that the actual offset is directly read and stored in the register, the target correction speed allowed for the initial machining path is determined; the initial machining path is corrected according to the target correction speed, with the joint trajectory model and the maximum offset as constraints.

[0066] The dynamic path modification model also includes a target correction speed, for example, ensuring that the actual correction speed per second does not exceed max_inc.

[0067] Specifically, the server uses the velocity and acceleration models in the joint trajectory model as constraints, and when the actual offset is less than or equal to the maximum offset, it uses the minimum actual offset of the robot end effector as the objective function to perform path correction, and corrects the initial processing path according to the target correction speed.

[0068] In one embodiment, the method further includes: correcting the initial processing path based on the correction mode, the tracking direction, and the tracking mode.

[0069] The dynamic path modification model also includes correction mode, tracing direction, and tracing mode; correction mode includes Modal and Inline; tracing direction includes PATH, TOOLPATH, UFRAME, and UTOOL; tracing mode includes regular tracing mode and static tracing mode.

[0070] Specifically, when the server determines that the correction mode is Inline and the tracing mode is normal tracing mode, it triggers the dynamic path modification model to correct the entire path. When the server determines that the tracing direction is UTOOL, it triggers the dynamic path modification model to correct the path based on the current tool coordinate system.

[0071] In this embodiment, since the dynamic path modification model is used to modify the path or target position in real time according to external signal information, the robot end-effector speed control method based on dynamic path correction can be executed accurately, solving the problem of the motion path deviating from the set position or posture.

[0072] In one embodiment, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating the process of setting up a dynamic path modification model in one embodiment. When the server needs to initialize DPM settings, it sequentially sets the DPM correction mode, the DPM channel offset calculation mode, the DPM tracking direction, the DPM tracking mode, the DPM channel input mode, the maximum allowed path offset, and the DPM correction speed per 1 second.

[0073] In this embodiment, by initializing the DPM settings and establishing communication between the host computer and the robot end effector, the control of the robot end effector becomes simpler and more direct.

[0074] In one embodiment, the method further includes: performing collision detection on the robot end effector moving along the modified initial processing path to obtain a collision result including a collision function; determining the gradient corresponding to the collision function; and modifying the initial processing path again using the gradient.

[0075] During the process of the robot end effector moving along the corrected initial processing path to process the workpiece, it may collide with environmental obstacles due to external factors. Therefore, it is necessary to further plan obstacle avoidance actions for the robot end effector. The geometric information of the robot end effector and the first geometric model of the obstacle have been pre-imported into the server, and the geometric information of the robotic arm includes the second geometric model of each joint.

[0076] Specifically, the server performs collision detection between the first geometric model of the environmental obstacle and the second geometric model of each joint of the robot's end effector. If at least one joint in the robot's end effector's motion pose collides with the environmental obstacle, the motion trajectory of that end effector is also considered to have collided with the environmental obstacle. The collision function is calculated using the entire motion trajectory of the robot's end effector as its input variable, based on the collision detection results of each joint with the environmental obstacle. Therefore, the server calculates the gradient of the collision function. The server calculates the changes in all joints based on the gradient of the collision function and superimposes the changes in the joints with the joint values ​​in the corresponding theoretical joint positions to obtain a further corrected initial machining path.

[0077] In this embodiment, by taking obstacle avoidance and ensuring the smoothness of the robot's end effector as optimization objectives, the changes in all joints can be accurately calculated based on the gradient of the collision function, thereby accurately drawing the movement trajectory of the robotic arm and avoiding the problem of inaccurate workpiece processing caused by obstacles in the environment.

[0078] In one embodiment, such as Figure 4 As shown, Figure 4 This is a flowchart illustrating the robot end-effector control method in another embodiment. The server establishes the forward and inverse kinematics models of the FANUC robot using the POE modeling method; based on the processing request corresponding to the processing task requirements, it captures images of the workpiece surface using a 3D structured light camera and extracts the initial processing path using a 3D image algorithm; the server converts the actual path position in Cartesian space into the theoretical joint position in joint space using the kinematic model; the server converts the initial velocity specified by the robot end-effector on the initial processing path into joint velocities using the Jacobian matrix; and a joint motion trajectory model is constructed between adjacent path points of each robot joint using a cubic spline interpolation algorithm. The dynamic path modification model is initialized; the designed TP program is started on the robot teach pendant; a host computer program is built in the host computer using the TCP / IP protocol, thus establishing communication between the host computer and the robot end-effector; the server transmits the theoretical joint positions to the robot control cabinet, thereby controlling the robot to move according to the initial processing path; the actual offset is determined at each interpolation cycle T, and the channel input offset of the DPM is set as the actual offset, thereby correcting the path in real time; and the processing task requirements are completed according to the specified robot end-effector velocity.

[0079] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0080] Based on the same inventive concept, this application also provides a robot end-effector control device for implementing the robot end-effector control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot end-effector control device embodiments provided below can be found in the limitations of the robot end-effector control method described above, and will not be repeated here.

[0081] In one embodiment, a robot end effector is provided, comprising: an actual path position determination module, a theoretical path position determination module, and an initial machining path correction module, wherein:

[0082] The actual path location determination module is used to obtain the processing request for the workpiece and the preset joint trajectory model; determine the initial processing path of the workpiece in Cartesian space; the initial processing path includes multiple actual path locations.

[0083] The theoretical path position determination module is used to determine the theoretical joint position in joint space based on the joint trajectory model, and to determine the theoretical path position in Cartesian space based on the theoretical joint position.

[0084] The initial processing path correction module is used to correct the initial processing path by comparing the actual path position with the theoretical path position.

[0085] The various modules in the aforementioned robot end-effector control 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 corresponding operations of each module.

[0086] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores processing paths. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a robot end-effector control method.

[0087] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0088] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0089] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0090] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0091] 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. When executed, the computer program 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.

[0092] 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.

[0093] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this 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 robot end control method characterized by, The method includes: Obtain the machining request for the workpiece and the preset joint trajectory model; Determine the initial machining path for the workpiece in Cartesian space, which includes multiple actual path positions; Based on the joint trajectory model, determine the theoretical joint position in the joint space of the actual path position, and determine the theoretical path position in the Cartesian space of the theoretical joint position; The initial processing path is corrected based on the actual path location and the theoretical path location, including: Obtain the dynamic path modification model and determine the maximum allowable offset of the initial processing path; the dynamic path modification model includes at least an offset calculation mode and a channel input mode; Based on the offset calculation mode, the actual offset between the actual path position and the theoretical path position is determined; The initial processing path is corrected based on the channel input mode and the maximum offset, including: when the channel input mode indicates that the actual offset is directly read and stored in a register, determining the target correction speed allowed for the initial processing path; using the joint trajectory model and the maximum offset as constraints, and correcting the initial processing path according to the target correction speed.

2. The method of claim 1, wherein, The step of determining the theoretical joint position in joint space based on the joint trajectory model includes: Determine the initial velocity of the robot end effector on the initial processing path, and the joint velocity corresponding to the initial velocity; Based on the joint velocity and the joint trajectory model, the theoretical joint position in joint space is determined for the actual path position.

3. The method of claim 1, wherein, Determining the theoretical path position of the theoretical joint in Cartesian space includes: Obtain the forward kinematics model corresponding to the robot end effector; the forward kinematics model is determined by the POE modeling method. The theoretical joint positions are transformed into theoretical path positions in Cartesian space using the positive kinematics model.

4. The method of claim 1, wherein, The dynamic path modification model further includes a correction mode, a tracking direction, and a tracking mode; the method further includes: correcting the initial processing path based on the correction mode, the tracking direction, and the tracking mode.

5. The method of claim 1, wherein, It also includes: performing collision detection on the robot end effector moving according to the corrected initial processing path, obtaining collision results including a collision function; determining the gradient corresponding to the collision function, and then correcting the initial processing path again using the gradient.

6. The method of claim 5, wherein, The step of further refining the initial processing path using gradients includes: The collision function is calculated using the entire motion trajectory of the robot's end effector as its input variable, based on the collision detection results of each joint with environmental obstacles; The gradient of the collision function is obtained by solving for its gradient. The changes in all joints are calculated based on the gradient of the collision function, and the changes in the joints are superimposed with the joint values ​​in the corresponding theoretical joint positions to obtain the further corrected initial processing path.

7. The method according to any one of claims 1 to 6, characterized in that, The method for constructing the joint trajectory model includes: Determine multiple sample path points collected within a preset time period; the sample path points are located in Cartesian space; By using the inverse kinematics model corresponding to the robot end effector, each of the sample path points is converted into a joint path point in the joint space. The joint trajectory model corresponding to the robot end effector is obtained by interpolating the joint path points between each joint using a target interpolation algorithm.

8. A robot end-effector control device, characterized in that, For implementing the method according to any one of claims 1 to 7; the apparatus comprises: The actual path position determination module is used to obtain the processing request for the workpiece and the preset joint trajectory model; and to determine the initial processing path of the workpiece in Cartesian space, which includes multiple actual path positions. The theoretical path position determination module is used to determine the theoretical joint position in the joint space of the actual path position based on the joint trajectory model, and to determine the theoretical path position in the Cartesian space of the theoretical joint position. The initial processing path correction module is used to correct the initial processing path based on the actual path position and the theoretical path position.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, 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 7.

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