Robot bending following method and device, electronic equipment and storage medium

Abstract

The embodiment of the present application relates to the technical field of robots, and discloses a robot bending following method and device, electronic equipment and a storage medium. In the embodiment, the starting pose of the robot end in the bending coordinate system when the bending starting point is recorded, and the real-time moving distance of the bending knife of the bending machine from the clamping point downwards is recorded, and according to the real-time moving distance and the starting pose, the following pose of the robot bending can be calculated in real time, and the bending following according to the following pose is not affected by the initial grabbing position and the weight of the plate to be bent, and the accuracy of the robot bending following is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot bending and following method, apparatus, electronic device, and storage medium. Background Technology

[0002] Robot bending follow-up refers to a robot's end effector using suction cups or other grippers to place the sheet metal to be bent into the bending machine's pre-bending position. As the bending cutter of the machine moves downwards, the robot's end effector grippers follow the sheet metal in real time. Throughout the tracking process, the robot's end effector must strictly follow the downward movement of the bending cutter to ensure that the sheet metal does not detach from the machine.

[0003] The common bending following method is forward bending following, where the bending blade moves downwards, and upon reaching the dead point, the robot begins to follow the downward movement of the bending blade, synchronously moving the pallet upwards. However, some applications require the robot to perform reverse bending following, so that while the bending blade moves downwards, the robot can also follow the downward movement of the bending blade, synchronously moving the pallet downwards.

[0004] The inventors discovered that when following a bend, the grippers such as suction cups commonly used at the end of the robot cannot be taught accurately. Due to the influence of weight, the absolute posture of the robot's gripping position is different for different types of materials, resulting in inaccurate bending and following of the robot. Summary of the Invention

[0005] The purpose of this invention is to provide a robot bending and following method, apparatus, electronic device, and storage medium, which can improve the bending and following accuracy of the robot.

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a robot bending and following method, comprising:

[0007] When recording the starting point of the bend, the robot end effector is in the initial pose of the bend coordinate system.

[0008] The real-time downward movement distance of the bending cutter of the bending machine from the clamping point is obtained, and the following posture of the robot bending is calculated based on the real-time movement distance and the initial posture.

[0009] The robot is controlled to perform bending and following according to the following pose until the bending blade moves to the unloading point.

[0010] The present invention also provides a robot bending following device, comprising: an initial pose recording unit, used to record the initial pose of the robot end effector in the bending coordinate system when the bending starts;

[0011] The following pose calculation unit is used to record and acquire the real-time downward movement distance of the bending cutter of the bending machine from the clamping point, and calculate the following pose of the robot bending based on the real-time movement distance and the initial pose.

[0012] The bending follower unit is used to control the robot to perform bending and following according to the following pose until the bending cutter moves to the unloading point.

[0013] Embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described robot bending and following method.

[0014] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described robot bending and following method.

[0015] In an embodiment of the present invention, the robot's bending follower pose can be calculated in real time based on the initial pose of the robot's end in the bending coordinate system at the bending start point and the real-time downward movement distance of the bending cutter from the clamping point. The bending follower pose is not affected by the initial gripping position and weight of the sheet material to be bent, thus improving the accuracy of the robot's bending follower.

[0016] In addition, calculating the robot's bending follow-up pose based on the real-time moving distance and the initial pose includes:

[0017] Based on the initial pose (X0, Y0, Z0, R0) of the robot end effector in the bending coordinate system, where X0, Y0, and Z0 are the three-axis coordinates in the bending coordinate system and R0 is the initial posture of the robot, the initial angle alpha between the robot end effector and the sheet metal at the bending start point is calculated as alpha = atan2(Z0, X0) and the initial length L of the robot end effector from the origin of the bending coordinate system is calculated as sqrt(X0^2 + Z0^2).

[0018] Based on the real-time moving distance di, calculate the real-time bending angle theta of the sheet metal = atan2(w, di), where w is the width of the lower die groove of the bending machine; based on the initial pose (X0, Y0, Z0, R0), the real-time moving distance di, the initial angle alpha, the initial length L, and the real-time bending angle theta of the sheet metal, calculate the robot bending follower position coordinates [Xi, Yi, Zi] and the robot bending real-time follower posture Ri:

[0019] Xi = L*sin(theta - alpha)

[0020] Yi = Y0

[0021] Zi = L * cos(theta - alpha) + di

[0022] Ri = RotY(Bi)*R0, where Bi = theta – pi / 2, pi represents pi, and RotY(Bi) is the angle of rotation of the robot around the Y-axis of the bending coordinate system;

[0023] Based on the following position coordinates [Xi,Yi,Zi] and the real-time following posture Ri, the following posture of the robot bending is obtained.

[0024] In addition, the real-time downward movement distance of the bending cutter from the clamping point is obtained directly based on the real-time feedback of the bending cutter's posture, or by simulating the bending cutter's tracking curve.

[0025] Additionally, when recording the start point of the bend, the robot end effector is in its initial pose in the bend coordinate system, including:

[0026] Establish a bending coordinate system;

[0027] The robot's end effector uses a clamp to place the sheet metal at the lower die slot of the bending machine, and after the back stop block performs pose calibration, the pose of the robot's tool center point is transformed from the world coordinate system to the bending coordinate system.

[0028] In addition, the bending coordinate system uses the extension direction of the longitudinal center line of the lower die groove as the Y-axis direction, the direction perpendicular to the Y-axis direction as the X-axis direction, and the Z-axis direction is determined by the Y-axis direction and the X-axis direction according to the right-hand rule. The origin of the bending coordinate system is any point on the longitudinal center line of the lower die groove.

[0029] In addition, the bending follower includes reverse bending follower and forward bending follower. Attached Figure Description

[0030] One or more embodiments of the present invention are illustrated by way of example with the corresponding images in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0031] Figure 1 This is a flowchart of a robot bending and following method according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of a robot bending and following device according to another embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of an electronic device according to another embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the various embodiments of the present invention to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of the embodiments. The various embodiments can be combined with and referenced by each other without contradiction.

[0035] One embodiment of the present invention relates to a robot bending following method. In this embodiment, the robot end effector is recorded in the initial pose of the bending coordinate system at the bending start point, and the bending cutter of the bending machine is recorded in real time from the clamping point downwards. Based on the real time movement distance and the initial pose, the following pose of the robot bending can be calculated in real time. The bending following based on the following pose is not affected by the initial gripping pose and weight of the sheet metal.

[0036] The implementation details of the robot bending and following method of this embodiment are described below. The following content is only for the convenience of understanding and is not necessary for implementing this solution.

[0037] like Figure 1 As shown, in step 101, when the bending start point is recorded, the robot end effector is in the initial pose of the bending coordinate system.

[0038] In this embodiment, the bending start point refers to the position of the robot's tool center point after the robot end effector places the sheet metal into the bending machine's lower die groove using a clamp such as a suction cup, and after the robot's position is calibrated by the back stop block.

[0039] The tool center point refers to the geometric center pose of the robot's end effector (such as a suction cup or gripper), also known as the origin of the tool coordinate system.

[0040] In one specific embodiment of the present invention, a bending coordinate system is first established, and the position of the sheet metal to be bent is placed on the lower die groove of the bending machine by a clamp at the end of the robot. After the position is calibrated by the back stop block, the position of the tool center point of the robot is transformed from the world coordinate system to the bending coordinate system.

[0041] The lower die groove refers to the groove formed by the dies installed at the bottom of the bending machine. Its function is to support the sheet metal and fix its position, ensuring the correct bending angle and radius. The bending coordinate system uses the extension direction of the longitudinal centerline of the lower die groove as the Y-axis, the direction perpendicular to the Y-axis as the X-axis, and the Z-axis as determined by the right-hand rule from the Y-axis and X-axis. The origin of the bending coordinate system is any point on the longitudinal centerline of the lower die groove.

[0042] In this embodiment of the invention, the initial pose is (X0, Y0, Z0, R0), where X0, Y0, and Z0 are the three-axis coordinates in the bending coordinate system and R0 is the robot's initial pose.

[0043] In step 102, the real-time downward movement distance of the bending cutter of the bending machine from the clamping point is obtained, and the following posture of the robot bending is calculated based on the real-time movement distance and the initial posture.

[0044] In one embodiment of the present invention, after the robot end effector is at the bending start point, the bending machine starts bending. The bending cutter of the bending machine descends from the top dead center to the clamping point and continues to move downward. This embodiment of the present invention records the real-time downward movement distance di of the bending cutter from the clamping point. The top dead center refers to the highest point of the bending cutter, which is also the starting position of the bending. The clamping point refers to the position where pressure needs to be applied when bending sheet metal using the bending machine.

[0045] The real-time downward movement distance di of the bending cutter from the clamping point can be directly obtained based on the real-time posture feedback of the bending cutter, or obtained by simulating the bending cutter tracking curve.

[0046] Furthermore, in this embodiment of the invention, the following pose of the robot bending is calculated based on the initial pose of the robot end in the bending coordinate system and the real-time moving distance di.

[0047] In one embodiment of the present invention, calculating the following pose for the robot's bending based on the real-time moving distance and the initial pose includes:

[0048] Based on the initial pose (X0, Y0, Z0, R0) of the robot end effector in the bending coordinate system, where X0, Y0, and Z0 are the three-axis coordinates in the bending coordinate system and R0 is the initial posture of the robot, the initial angle alpha between the robot end effector and the sheet metal at the bending start point is calculated as alpha = atan2(Z0, X0) and the initial length L of the robot end effector from the origin of the bending coordinate system is calculated as sqrt(X0^2 + Z0^2).

[0049] Based on the real-time moving distance di, the real-time bending angle theta = atan2(w, di) of the plate is calculated, where w is the width of the lower die groove of the bending machine.

[0050] Based on the initial pose (X0, Y0, Z0, R0), real-time movement distance di, initial angle alpha, initial length L, and real-time bending angle theta of the sheet metal, calculate the robot's bending follower position coordinates [Xi, Yi, Zi] and the robot's real-time bending follower posture Ri:

[0051] Xi = L*sin(theta - alpha)

[0052] Yi = Y0

[0053] Zi = L * cos(theta - alpha) + di

[0054] Ri = RotY(Bi)*R0, where Bi = theta – pi / 2, pi represents pi, and RotY(Bi) is the angle of rotation of the robot around the Y-axis of the bending coordinate system;

[0055] Based on the following position coordinates [Xi,Yi,Zi] and the real-time following posture Ri, the following posture of the robot bending is obtained.

[0056] In step 103, the robot is controlled to perform bending and following according to the following pose until the bending blade moves to the unloading point.

[0057] In this embodiment of the invention, the robot's tool center point is moved in real time according to the following pose to achieve bending follow-up. When the bending blade moves to the unloading point, the acquisition of the real-time movement distance di is stopped, and the robot's bending follow-up stops, thus ending the entire bending follow-up action.

[0058] The unloading point refers to the position where the bending knife is released from pressure on the sheet metal after bending is completed.

[0059] This embodiment calculates the robot's following posture in real time based on the robot's end effector's initial position in the bending coordinate system at the bending start point and the real-time downward movement distance of the bending cutter from the clamping point. The bending following based on the following posture is not affected by the initial gripping position and weight of the sheet material to be bent, thus improving the accuracy of the robot's bending following.

[0060] It should be understood that bending follower includes forward bending follower and reverse bending follower. The bending follower described in the above embodiments of the present invention includes reverse bending follower and forward bending follower.

[0061] The steps described above are for clarity only. In practice, they can be combined into one step or some steps can be broken down into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0062] Another embodiment of the present invention relates to a robot bending and following device, such as... Figure 2 As shown, it includes: an initial pose recording unit 201, used to record the initial pose of the robot end effector in the bending coordinate system when the bending starts; a following pose calculation unit 202, used to record and acquire the real-time downward movement distance of the bending cutter of the bending machine from the clamping point, and calculate the following pose of the robot bending based on the real-time movement distance and the initial pose; and a bending following unit 203, used to control the robot to perform bending following based on the following pose until the bending cutter moves to the unloading point.

[0063] In one example, the following pose calculation unit 202 calculates the following pose of the robot bending using the following method:

[0064] Based on the initial pose (X0, Y0, Z0, R0) of the robot end effector in the bending coordinate system, where X0, Y0, and Z0 are the three-axis coordinates in the bending coordinate system and R0 is the initial posture of the robot, the initial angle alpha between the robot end effector and the sheet metal at the bending start point is calculated as alpha = atan2(Z0, X0) and the initial length L of the robot end effector from the origin of the bending coordinate system is calculated as sqrt(X0^2 + Z0^2).

[0065] Based on the real-time moving distance di, the real-time bending angle theta = atan2(w, di) of the plate is calculated, where w is the width of the lower die groove of the bending machine.

[0066] Based on the initial pose (X0, Y0, Z0, R0), real-time movement distance di, initial angle alpha, initial length L, and real-time bending angle theta of the sheet metal, calculate the robot's bending follower position coordinates [Xi, Yi, Zi] and the robot's real-time bending follower posture Ri:

[0067] Xi = L*sin(theta - alpha)

[0068] Yi = Y0

[0069] Zi = L * cos(theta - alpha) + di

[0070] Ri = RotY(Bi)*R0, where Bi = theta – pi / 2, pi represents pi, and RotY(Bi) is the angle of rotation of the robot around the Y-axis of the bending coordinate system;

[0071] Based on the following position coordinates [Xi,Yi,Zi] and the real-time following posture Ri, the following posture of the robot bending is obtained.

[0072] In this embodiment, the bending start point refers to the position of the robot's tool center point after the robot end effector places the sheet metal into the bending machine's lower die groove using a clamp such as a suction cup, and after the robot's position is calibrated by the back stop block.

[0073] The tool center point refers to the geometric center pose of the robot's end effector (such as a suction cup or gripper), also known as the origin of the tool coordinate system.

[0074] In one specific embodiment of the present invention, a bending coordinate system is first established, and the position of the sheet metal to be bent is placed on the lower die groove of the bending machine by a clamp at the end of the robot. After the position is calibrated by the back stop block, the position of the tool center point of the robot is transformed from the world coordinate system to the bending coordinate system.

[0075] The lower die groove refers to the groove formed by the dies installed at the bottom of the bending machine. Its function is to support the sheet metal and fix its position, ensuring the correct bending angle and radius. The bending coordinate system uses the extension direction of the longitudinal centerline of the lower die groove as the Y-axis, the direction perpendicular to the Y-axis as the X-axis, and the Z-axis as determined by the right-hand rule from the Y-axis and X-axis. The origin of the bending coordinate system is any point on the longitudinal centerline of the lower die groove.

[0076] In one embodiment of the present invention, after the robot end effector is at the bending start point, the bending machine starts bending. The bending cutter of the bending machine descends from the top dead center to the clamping point and continues to move downward. This embodiment of the present invention records the real-time downward movement distance di of the bending cutter from the clamping point. The top dead center refers to the highest point of the bending cutter, which is also the starting position of the bending. The clamping point refers to the position where pressure needs to be applied when bending sheet metal using the bending machine.

[0077] The real-time downward movement distance di of the bending cutter from the clamping point can be directly obtained based on the real-time posture feedback of the bending cutter, or obtained by simulating the bending cutter tracking curve.

[0078] In this embodiment of the invention, the robot's tool center point is moved in real time according to the following pose to achieve bending follow-up. When the bending blade moves to the unloading point, the acquisition of the real-time movement distance di is stopped, and the robot's bending follow-up stops, thus ending the entire bending follow-up action.

[0079] The unloading point refers to the position where the bending knife is released from pressure on the sheet metal after bending is completed.

[0080] This embodiment calculates the robot's following posture in real time based on the robot's end effector's initial position in the bending coordinate system at the bending start point and the real-time downward movement distance of the bending cutter from the clamping point. The bending following based on the following posture is not affected by the initial gripping position and weight of the sheet material to be bent, thus improving the accuracy of the robot's bending following.

[0081] It is not difficult to see that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details mentioned in the above method embodiment are still valid in this embodiment. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the above method embodiment.

[0082] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this embodiment, units that are not closely related to solving the technical problem proposed in this embodiment are not introduced. However, this does not mean that other units are absent from this embodiment.

[0083] Another embodiment of the present invention relates to an electronic device, such as Figure 3 As shown, it includes at least one processor 301; and a memory 302 communicatively connected to the at least one processor; wherein the memory 302 stores instructions executable by the at least one processor 301, the instructions being executed by the at least one processor 301 to enable the at least one processor 301 to perform the robot bending and following method as described above.

[0084] The memory 302 and processor 301 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 301 and memory 302 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 301 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 301.

[0085] Processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 302 can be used to store data used by processor 301 during operation.

[0086] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the method embodiments described above.

[0087] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0088] Those skilled in the art will understand that the above embodiments are specific examples of implementing this embodiment, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this embodiment.

Claims

1. A robot bending and following method, characterized in that, The method includes: When recording the starting point of the bend, the robot end effector is in the initial pose of the bend coordinate system, which is (X0, Y0, Z0, R0), where X0, Y0, and Z0 are the three-axis coordinates of the bend coordinate system and R0 is the initial pose of the robot. The real-time downward movement distance of the bending cutter of the bending machine from the clamping point is obtained, and the following posture of the robot bending is calculated based on the real-time movement distance and the initial posture. The robot is controlled to perform bending and following according to the following pose until the bending blade moves to the unloading point; The step of calculating the robot's bending follow-up pose based on the real-time moving distance and the initial pose includes: Based on the initial pose, calculate the initial angle alpha between the robot end effector and the sheet metal at the bending start point, and the initial length L of the robot end effector from the origin of the bending coordinate system. The real-time bending angle theta of the sheet metal is calculated based on the real-time moving distance di and the groove width w of the lower die groove of the bending machine. Based on the initial pose, the real-time movement distance di, the initial angle alpha, the initial length L, the real-time bending angle theta of the sheet metal, and the angle of rotation of the robot around the Y-axis of the bending coordinate system, calculate the robot's bending follower position coordinates [Xi, Yi, Zi] and the robot's real-time bending follower posture Ri: Based on the following position coordinates [Xi, Yi, Zi] and the real-time following posture Ri, the following posture of the robot bending is obtained.

2. The robot bending and following method according to claim 1, characterized in that, The initial angle alpha, the initial length L, the real-time bending angle theta, the following position coordinates [Xi, Yi, Zi], and the real-time following posture Ri are calculated in the following ways: alpha = atan2(Z0, X0); L = sqrt(X0^2+Z0^2); theta = atan2(w, di); Xi = L×sin(theta-alpha); Yi = Y0; Zi = L×cos(theta-alpha) + di; Ri = RotY(Bi) × R0, where Bi = theta – pi / 2, pi represents pi, and RotY(Bi) is the angle of rotation of the robot around the Y-axis of the bending coordinate system.

3. The robot bending and following method according to claim 1, characterized in that, The real-time downward movement distance of the bending cutter from the clamping point of the bending machine can be obtained directly based on the real-time feedback of the bending cutter's posture, or by simulating the bending cutter's tracking curve.

4. The robot bending and following method according to claim 1, characterized in that, When recording the start point of the bend, the robot end effector is in its initial pose in the bend coordinate system, including: Establish a bending coordinate system; The robot's end effector uses a clamp to place the sheet metal at the lower die slot of the bending machine, and after the back stop block performs pose calibration, the pose of the robot's tool center point is transformed from the world coordinate system to the bending coordinate system.

5. The robot bending and following method according to claim 4, characterized in that, The bending coordinate system uses the extension direction of the longitudinal centerline of the lower die groove as the Y-axis direction, the direction perpendicular to the Y-axis direction as the X-axis direction, and the Z-axis direction is determined by the Y-axis and X-axis directions according to the right-hand rule. The origin of the bending coordinate system is any point on the longitudinal centerline of the lower die groove.

6. The robot bending and following method according to any one of claims 1 to 5, characterized in that, The bending follower includes reverse bending follower and forward bending follower.

7. A robot bending and following device, characterized in that, include: The initial pose recording unit is used to record the initial pose (X0, Y0, Z0, R0) of the robot end effector in the bending coordinate system when the bending starts. Here, X0, Y0, and Z0 are the three-axis coordinates in the bending coordinate system, and R0 is the initial pose of the robot. The following pose calculation unit is used to record and acquire the real-time downward movement distance of the bending cutter of the bending machine from the clamping point, and calculate the following pose of the robot bending based on the real-time movement distance and the initial pose. A bending follower unit is used to control the robot to perform bending and following movements based on the following pose until the bending cutter moves to the unloading point; wherein... The following pose calculation unit is further specifically used to calculate, based on the initial pose, the initial angle alpha between the robot end effector and the sheet metal at the bending start point and the initial length L of the robot end effector from the origin of the bending coordinate system; to calculate the real-time bending angle theta of the sheet metal based on the real-time moving distance di and the groove width w of the lower die groove of the bending machine; to calculate the following position coordinates [Xi, Yi, Zi] of the robot bending and the real-time following posture Ri of the robot bending based on the initial pose, the real-time moving distance di, the initial angle alpha, the initial length L, the real-time bending angle theta of the sheet metal, and the angle of rotation of the robot around the Y-axis of the bending coordinate system; and to obtain the following pose of the robot bending based on the following position coordinates [Xi, Yi, Zi] and the real-time following posture Ri.

8. The robot bending and following device according to claim 7, characterized in that, The initial angle alpha, the initial length L, the real-time bending angle theta, the following position coordinates [Xi, Yi, Zi], and the real-time following posture Ri are calculated in the following ways: alpha = atan2(Z0, X0); L = sqrt(X0^2+Z0^2); theta = atan2(w, di); Xi = L×sin(theta-alpha); Yi = Y0; Zi = L×cos(theta-alpha) + di; Ri = RotY(Bi) × R0, where Bi = theta – pi / 2, pi represents pi, and RotY(Bi) is the angle of rotation of the robot around the Y-axis of the bending coordinate system.

9. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the robot bending and following method as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the robot bending and following method as described in any one of claims 1 to 6.

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