A multi-joint robot control method and system

Abstract

The application relates to the technical field of mechanical arm control, and discloses a multi-joint mechanical arm control method and system. The method determines a plurality of candidate joint motion parameter optimization limits through a joint motion optimization model of a mechanical arm, carries out fuzzy evaluation on the plurality of candidate joint motion parameter optimization limits, determines a candidate joint motion parameter optimization limit with the highest evaluation value as an optimal joint motion parameter optimization limit, generates a mechanical arm key motion limit instruction according to the optimal joint motion parameter optimization limit and sends the mechanical arm key motion limit instruction to the mechanical arm for execution, thereby limiting each joint of the mechanical arm to move within the optimal joint motion parameter optimization limit, preventing the mechanical arm from being damaged, and improving the work efficiency of the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of robotic arm control technology, and in particular to a control method and system for a multi-joint robotic arm. Background Technology

[0002] 10kV lines are mostly installed on poles and towers. For tasks such as voltage testing, grounding wire installation, bird nest removal, and foreign object removal, maintenance personnel must climb the poles or use electric vehicles for high-altitude operations. High-altitude work generally refers to work performed at a height relative to a specific location. In building construction, working on scaffolding above 2 meters is considered high-altitude work. High-altitude work inherently carries risks, and working with 10kV circuits increases these risks significantly. Currently, most high-altitude work is still performed manually, with workers using safety harnesses to climb to the line and perform the necessary tasks.

[0003] Working at heights is inherently dangerous, and working on 10kV circuits exacerbates the risks. Environmental factors, such as climbing poles in extreme cold or heat, place a significant strain on workers' physical strength, jeopardize their safety, and result in low work efficiency and high maintenance costs.

[0004] Therefore, simulated robotic arms are developed to replace manual maintenance. However, since the robotic arm's movement capability is limited, if the movement of the robotic arm's joints within the specified direction is not considered, the robotic arm is easily damaged, and at the same time, the work efficiency is reduced. Summary of the Invention

[0005] This invention provides a control method and system for a multi-joint robotic arm, which solves the technical problem that the robotic arm is easily damaged and its work efficiency is reduced if the joints of the robotic arm do not move within a specified direction due to the limited motion capability of the robotic arm.

[0006] In view of this, the first aspect of the present invention provides a multi-joint robotic arm control method, which utilizes a robotic arm having multiple degrees of freedom, and includes the following steps:

[0007] Construct a joint motion optimization model for the robotic arm, and determine the optimization limits of multiple candidate joint motion parameters through the joint motion optimization model of the robotic arm;

[0008] A fuzzy evaluation is performed on the optimization limits of multiple candidate joint motion parameters, and the candidate joint motion parameter optimization limit with the highest evaluation value is determined as the optimal joint motion parameter optimization limit.

[0009] Based on the optimal joint motion parameter optimization limit, key motion limit commands for the robotic arm are generated and sent to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit.

[0010] Preferably, the joint motion optimization model of the robotic arm is as follows:

[0011] G=α1G w +α2G v +α3G L

[0012] In the formula, G represents the combined limit of joint motion parameters, G w G represents the extreme positions of the robotic arm's joints. v G represents the limit speed of the joints of a robotic arm. L The limit torque of the joints of the robotic arm is represented by α1, α2, and α3, which are all weighting coefficients.

[0013] in,

[0014]

[0015]

[0016] In the formula, i represents the joint index, n represents the number of joints, and w i,min w i,max Let w represent the lower and upper limits of the position of the i-th joint, respectively. i v represents the position of the i-th joint. i,min v i,max Let v represent the lower limit and upper limit of the rotational velocity of the i-th joint, respectively. i Let L be the rotational speed of the i-th joint. i,min L i,max L represents the lower limit and upper limit of the rotational torque of the i-th joint, respectively. i Let be the rotational torque of the i-th joint.

[0017] Preferably, the method further includes:

[0018] Based on the diagonal principle, the joint motion optimization model of the robotic arm is converted into a weighted matrix model as follows:

[0019]

[0020] In the formula, w represents the weighting matrix, w k f represents the diagonal elements in the weighted matrix. m This indicates the priority coefficient.

[0021] Preferably, the method further includes:

[0022] Based on the limit positions of the robotic arm's joints and the lower and upper limits of each joint's position, the limit distance between the robotic arm's joint position and the limit position of the robotic arm's joints is determined. The limit distance is:

[0023]

[0024] In the formula, M k F represents the limit distance. i λ1 represents the joint position of the robotic arm, λ2 represents the weighting coefficient, and λ3 represents the error constant.

[0025] Preferably, the step of generating key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limit and sending them to the robotic arm for execution, wherein the key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit, specifically includes:

[0026] Based on the optimal joint motion parameters, the key motion limit commands of the robotic arm are generated and sent to the robotic arm.

[0027] The robotic arm responds to the request of the key motion limit command of the robotic arm and moves under the constraint of the optimal joint motion parameter optimization limit, wherein the optimal joint motion parameter optimization limit includes the joint limit position, joint limit speed, joint limit torque and limit distance of the robotic arm.

[0028] Preferably, the robotic arm is equipped with a robotic hand, and the robotic hand is equipped with a working tool.

[0029] Preferably, the method further includes:

[0030] The camera monitors the robot's operating perspective and sends the monitoring video to a mobile device.

[0031] Secondly, the present invention also provides a multi-joint robotic arm control system, which utilizes a robotic arm having multiple degrees of freedom, including:

[0032] The limit optimization module is used to construct the joint motion optimization model of the robotic arm and determine the optimization limits of multiple candidate joint motion parameters through the joint motion optimization model of the robotic arm.

[0033] The limit evaluation module is used to perform fuzzy evaluation on the optimization limits of multiple candidate joint motion parameters, and determine the candidate joint motion parameter optimization limit with the highest evaluation value as the optimal joint motion parameter optimization limit.

[0034] The limit constraint module is used to generate key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limit and send them to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit.

[0035] Thirdly, the present invention also provides an electronic device, the electronic device including a memory and a processor;

[0036] The memory is used to store programs;

[0037] The processor executes the program to implement the above-described method.

[0038] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0039] As can be seen from the above technical solutions, the present invention has the following advantages:

[0040] This invention determines the optimization limits of multiple candidate joint motion parameters through a joint motion optimization model of a robotic arm, performs fuzzy evaluation on these limits, and determines the candidate joint motion parameter optimization limit with the highest evaluation value as the optimal joint motion parameter optimization limit. Based on the optimal joint motion parameter optimization limit, key motion limit commands for the robotic arm are generated and sent to the robotic arm for execution. This restricts the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit, making the robotic arm less prone to damage and improving its operational efficiency. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the mechanical pliers provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of the mechanical shears provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of a flamethrower provided in an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of the voltage tester provided in an embodiment of the present invention;

[0045] Figure 5 A flowchart of a multi-joint robotic arm control method provided in an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of a multi-joint robotic arm control system provided in an embodiment of the present invention. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] This invention provides a control method for a multi-joint robotic arm, which utilizes a robotic arm with multiple degrees of freedom.

[0049] The robotic arm is equipped with a robotic hand, and the robotic hand is equipped with working tools.

[0050] Tools used include, but are not limited to, mechanical pliers, mechanical shears, flamethrowers, and voltage testers.

[0051] like Figure 1 As shown, Figure 1 The diagram illustrates the structure of mechanical pliers. Designed according to the structure of the human hand, the pliers are divided into three sections, similar to human fingers, which are highly flexible and can be used to grasp objects and assist in operations.

[0052] like Figure 2 As shown, Figure 2 The diagram illustrates the structure of mechanical shears, which can clean bird nests and debris, cut items tangled in power lines, and prevent debris from interfering with normal power transmission.

[0053] like Figure 3 As shown, Figure 3 The diagram illustrates the structure of the flamethrower. When clearing tightly tangled debris that cannot be removed with scissors, the flamethrower ignites the debris, thus clearing it away. The flamethrower has fuel at the rear, enough to sustain continuous flames for ten minutes.

[0054] like Figure 4 As shown, Figure 4 The diagram illustrates the structure of a voltage tester. A voltage tester can check whether a circuit is energized, thereby determining whether work can proceed.

[0055] The robotic arm supports the installation of two robotic arms, allowing for the use of both arms during each high-altitude operation to complete the necessary tasks. For example, when testing for voltage on power lines and installing grounding wires, a pair of pliers and a voltage tester can be used. After testing the power on the power line with the voltage tester, the pliers can be used directly to install the grounding wire.

[0056] The robotic arm is equipped with a camera to monitor the robotic arm's working perspective and send the monitoring video to a mobile device.

[0057] In practical applications, when high-altitude operations are required, appropriate robotic arms are mounted on the robotic arm according to different operation types. A device extends from the connection point between the robotic arm and the robotic arm to mount a camera, providing a third-person perspective for filming and preventing obstruction by the robotic arm during operation, thus ensuring the robotic arm's safety. The camera synchronizes the captured video to a tablet on the ground, allowing the operator to view it in real time and assisting in the operation of the robotic arm. The camera on the robotic arm has a 180° field of view, facilitating the operator's observation of the surrounding environment.

[0058] The robotic arm is a multi-joint robotic arm, which is highly flexible and can adapt to different needs and scenarios. In order to ensure the progress of the robotic arm's movement, it is necessary to consider the movement of the robotic arm's joints within a specified direction and to impose certain limitations on the robotic arm's movement capabilities.

[0059] Therefore, the present invention provides a control method for a multi-joint robotic arm, such as... Figure 5 As shown, this method includes the following steps:

[0060] Step 1: Construct a joint motion optimization model for the robotic arm, and determine the optimization limits of multiple candidate joint motion parameters through the joint motion optimization model of the robotic arm.

[0061] The joint motion optimization model for the robotic arm is as follows:

[0062] G=α1G w +α2G v +α3G L

[0063] In the formula, G represents the combined limit of joint motion parameters, G w G represents the extreme positions of the robotic arm's joints. v G represents the limit speed of the joints of a robotic arm. L The limit torque of the joints of the robotic arm is represented by α1, α2, and α3, which are all weighting coefficients.

[0064] in,

[0065]

[0066]

[0067] In the formula, i represents the joint index, n represents the number of joints, and w i,min w i,max Let w represent the lower and upper limits of the position of the i-th joint, respectively. iv represents the position of the i-th joint. i,min v i,max Let v represent the lower limit and upper limit of the rotational velocity of the i-th joint, respectively. i Let L be the rotational speed of the i-th joint. i,min L i,max L represents the lower limit and upper limit of the rotational torque of the i-th joint, respectively. i Let be the rotational torque of the i-th joint.

[0068] Understandably, by considering the mutual influence of the lower and upper limits of each joint's position, lower and upper limits of rotational speed, lower and upper limits of rotational torque on each joint, and by comprehensively limiting the joint limit positions, joint limit speeds, and joint limit torques of each joint of the robotic arm, the overall joint limit positions, joint limit speeds, and joint limit torques of the robotic arm can be determined, i.e., G. w G v and G L .

[0069] Then, by weighting the limit positions, limit velocities, and limit torques of the robotic arm's joints, the comprehensive limit of the robotic arm's joint motion parameters is obtained. To further analyze the eigenvalues, in this embodiment, the joint motion optimization model of the robotic arm is converted into a weighted matrix model according to the diagonal principle:

[0070]

[0071] In the formula, w represents the weighting matrix, w k f represents the diagonal elements in the weighted matrix. m This represents the priority coefficient. Where, the priority coefficient f... m The weighting coefficients α1, α2, and α3 can all be set based on experience.

[0072] Meanwhile, under the constraints of the joint motion optimization model of the robotic arm, by changing the joint position, joint rotation speed and joint torque, a large number of joint limit positions, joint limit speeds and joint limit torques can be obtained, and the joint limit positions, joint limit speeds and joint limit torques can be used as candidate joint motion parameter optimization limits.

[0073] Step 2: Perform fuzzy evaluation on the optimization limits of multiple candidate joint motion parameters, and determine the candidate joint motion parameter optimization limit with the highest evaluation value as the optimal joint motion parameter optimization limit.

[0074] It is understandable that this embodiment evaluates the optimization limits of multiple candidate joint motion parameters using a fuzzy evaluation algorithm. In a general example, it would be necessary to construct an evaluation index system and input the optimization limits of multiple candidate joint motion parameters into the evaluation index system to obtain the optimization limit of the candidate joint motion parameters with the highest evaluation value.

[0075] Step 3: Generate key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limits and send them to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limits.

[0076] In one feasible implementation, this method also includes:

[0077] Based on the limit positions of the robotic arm's joints and the lower and upper limits of each joint's position, the limit distance between the robotic arm's joint position and its limit position is determined. The limit distance is:

[0078]

[0079] In the formula, M k F represents the limit distance. i λ1 represents the joint position of the robotic arm, λ2 represents the weighting coefficient, and λ3 represents the error constant.

[0080] Understandably, by determining the maximum distance between the joint position of the robotic arm and its limit position, the range of motion of the robotic arm's joints can be determined, providing relevant data for the robotic arm to grasp the target object and preventing the robotic arm from moving excessively.

[0081] In one feasible approach, step three specifically includes:

[0082] S301. Generate key motion limit commands for the robotic arm based on the optimal joint motion parameters and send the key motion limit commands to the robotic arm.

[0083] S302. The robotic arm responds to the request of the key motion limit command of the robotic arm and moves under the constraint of the optimal joint motion parameter optimization limit, wherein the optimal joint motion parameter optimization limit includes the joint limit position, joint limit speed, joint limit torque and limit distance of the robotic arm.

[0084] It should be noted that this invention determines the optimization limits of multiple candidate joint motion parameters through the joint motion optimization model of the robotic arm, performs fuzzy evaluation on the optimization limits of multiple candidate joint motion parameters, and determines the optimization limit of the candidate joint motion parameters with the highest evaluation value as the optimal optimization limit of joint motion parameters. Based on the optimal optimization limit of joint motion parameters, the invention generates key motion limit commands for the robotic arm and sends them to the robotic arm for execution, thereby restricting the movement of each joint of the robotic arm within the optimal optimization limit of joint motion parameters, making the robotic arm less prone to damage, and improving the working efficiency of the robotic arm.

[0085] The above is a detailed description of an embodiment of a multi-joint robotic arm control method provided by the present invention. The following is a detailed description of an embodiment of a multi-joint robotic arm control system provided by the present invention.

[0086] For easier understanding, please refer to Figure 6 The present invention also provides a multi-joint robotic arm control system, which utilizes a robotic arm having multiple degrees of freedom. The system includes:

[0087] The limit optimization module 100 is used to construct the joint motion optimization model of the robotic arm and determine the optimization limits of multiple candidate joint motion parameters through the joint motion optimization model of the robotic arm.

[0088] The limit evaluation module 200 is used to perform fuzzy evaluation on the optimization limits of multiple candidate joint motion parameters and determine the candidate joint motion parameter optimization limit with the highest evaluation value as the optimal joint motion parameter optimization limit.

[0089] The limit constraint module 300 is used to generate key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limit and send them to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit.

[0090] The present invention also provides an electronic device, which includes a memory and a processor;

[0091] Memory is used to store programs;

[0092] The processor executes the program to implement the above method.

[0093] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, electronic devices, and computer-readable storage media described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0095] In the embodiments provided by this invention, it should be understood that the disclosed systems, electronic devices, computer-readable storage media, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for executing all or part of the steps of the methods described in the various embodiments of the present invention through a computer device (which may be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a multi-joint robotic arm, employing a robotic arm having multiple degrees of freedom, characterized in that, Includes the following steps: A joint motion optimization model for the robotic arm is constructed, and multiple candidate joint motion parameter optimization limits are determined through this model. Specifically, under the constraints of the joint motion optimization model, a large number of joint limit positions, joint limit velocities, and joint limit torques are obtained by changing the joint positions, joint limit velocities, and joint limit torques. These limit positions, joint limit velocities, and joint limit torques are then used as candidate joint motion parameter optimization limits. The joint motion optimization model for the robotic arm is as follows: In the formula, This represents the combined limit of joint motion parameters. Indicates the extreme positions of the robotic arm's joints. This indicates the maximum joint speed of the robotic arm. This indicates the joint limit torque of the robotic arm. , , All are weighting coefficients; in, In the formula, i represents the joint index, and n represents the number of joints. , Let these represent the lower limit and upper limit of the position of the i-th joint, respectively. This indicates the position of the i-th joint. , Let represent the lower limit and upper limit of the rotational velocity of the i-th joint, respectively. Let be the rotational speed of the i-th joint. , Let these represent the lower limit and upper limit of the rotational torque of the i-th joint, respectively. Let be the rotational torque of the i-th joint; A fuzzy evaluation is performed on the optimization limits of multiple candidate joint motion parameters, and the candidate joint motion parameter optimization limit with the highest evaluation value is determined as the optimal joint motion parameter optimization limit. Based on the optimal joint motion parameter optimization limit, key motion limit commands for the robotic arm are generated and sent to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit.

2. The multi-joint robotic arm control method according to claim 1, characterized in that, Also includes: Based on the diagonal principle, the joint motion optimization model of the robotic arm is converted into a weighted matrix model as follows: In the formula, Represents a weighted matrix. This represents the diagonal elements in the weighted matrix. This indicates the priority coefficient.

3. The multi-joint robotic arm control method according to claim 1, characterized in that, The step of generating key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limit and sending them to the robotic arm for execution, wherein the key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit, specifically includes: Based on the optimal joint motion parameters, the key motion limit commands of the robotic arm are generated and sent to the robotic arm. The robotic arm responds to the request of the key motion limit command of the robotic arm and moves under the constraint of the optimal joint motion parameter optimization limit, wherein the optimal joint motion parameter optimization limit includes the joint limit position, joint limit speed and joint limit torque of the robotic arm.

4. The multi-joint robotic arm control method according to claim 1, characterized in that, The robotic arm is equipped with a robotic hand, and the robotic hand is equipped with a working tool.

5. The multi-joint robotic arm control method according to claim 4, wherein the robotic arm is equipped with a camera, characterized in that, This method also includes: The camera monitors the robot's operating perspective and sends the monitoring video to a mobile device.

6. A multi-joint robotic arm control system, employing a robotic arm having multiple degrees of freedom, characterized in that, include: The limit optimization module is used to construct a joint motion optimization model for the robotic arm, and to determine multiple candidate joint motion parameter optimization limits through this model. Specifically, under the constraints of the robotic arm's joint motion optimization model, by changing the joint position, rotational speed, and torque, a large number of joint limit positions, joint limit velocities, and joint limit torques are obtained, and these limit positions, velocities, and torques are used as candidate joint motion parameter optimization limits. The joint motion optimization model for the robotic arm is as follows: In the formula, This represents the combined limit of joint motion parameters. Indicates the extreme positions of the robotic arm's joints. This indicates the maximum joint speed of the robotic arm. This indicates the joint limit torque of the robotic arm. , , All are weighting coefficients; in, In the formula, i represents the joint index, and n represents the number of joints. , Let these represent the lower limit and upper limit of the position of the i-th joint, respectively. This indicates the position of the i-th joint. , Let represent the lower limit and upper limit of the rotational velocity of the i-th joint, respectively. Let be the rotational speed of the i-th joint. , Let these represent the lower limit and upper limit of the rotational torque of the i-th joint, respectively. Let be the rotational torque of the i-th joint; The limit evaluation module is used to perform fuzzy evaluation on the optimization limits of multiple candidate joint motion parameters, and determine the candidate joint motion parameter optimization limit with the highest evaluation value as the optimal joint motion parameter optimization limit. The limit constraint module is used to generate key motion limit commands for the robotic arm based on the optimal joint motion parameter optimization limit and send them to the robotic arm for execution. The key motion limit commands for the robotic arm are used to restrict the movement of each joint of the robotic arm within the optimal joint motion parameter optimization limit.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor; The memory is used to store programs; The processor executes the program to implement the method of any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 5.

Images