A robot control method, device, system, electronic device, and storage medium

Abstract

The present invention relates to the field of robot control technology, and in particular to a robot control method, device, system, electronic device, and storage medium. The method is applied to a control mechanism in a robot control system, and the robot control system includes a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; the method includes: controlling the execution end to move to an initial position. The robot control method provided in the present application is provided with a piezoelectric quasicrystal coating on the end effector of the robot, and the applied current input to the piezoelectric quasicrystal coating is changed by changing the output voltage of the dynamic voltage regulator, so that the adsorption force generated on the coating surface can be changed, and the movement of the robot can be used to realize the grasping and placement of micro-nano objects or thin-sheet objects to improve the grasping accuracy.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot control method, device, system, electronic equipment, and storage medium. Background Art

[0002] In industrial production, scientific experiments and other activities, many grasping operations are performed by robots to reduce manual workload and labor intensity.

[0003] The robot gripper is the most common type of end effector. It is a component installed on the arm of an industrial robot to directly grasp the workpiece or perform operations. It has the functions of clamping, transporting, and placing the workpiece in a certain position. From the perspective of morphology, the gripper can have fingers like a human hand, such as three-finger or five-finger products, or it can be a palm without fingers, such as a parallel two-finger clamp; it can be a humanoid gripper, etc. Its grippers are roughly divided into magnetic grippers, vacuum grippers, mechanical grippers, humanoid robot hands, and adhesive grippers. In terms of drive mode, it can be divided into three types: hydraulic drive, pneumatic drive, and electric drive. Pneumatic and hydraulic devices are large in size, relatively expensive, difficult to integrate, and have a long response time.

[0004] However, existing grippers have difficulty in accurately grasping and placing micro-nano objects. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a robot control method, device, system, electronic device, and storage medium.

[0006] In a first aspect, an embodiment of the present invention provides a robot control method, which is applied to a control mechanism in a robot control system, wherein the robot control system further comprises a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on an execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; the method comprises:

[0007] Control the execution end to move to the initial position;

[0008] Controlling the dynamic voltage regulator to increase the output voltage so that the piezoelectric quasicrystal coating generates an adsorption force until the object is grasped;

[0009] According to the preset running trajectory, the robot is controlled to move the object to the end position;

[0010] The dynamic voltage regulator is controlled to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the object is released to the target position.

[0011] In combination with the first aspect, the step of controlling the dynamic voltage regulator to increase the output current so that the piezoelectric quasicrystal coating generates an adsorption force until the object is grasped includes:

[0012] The dynamic voltage regulator is controlled to gradually increase the output voltage so as to gradually increase the adsorption force generated by the piezoelectric quasicrystal coating.

[0013] In combination with the first aspect, the step of controlling the dynamic voltage regulator to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the object is released to the target position also includes:

[0014] The dynamic voltage regulator is controlled to gradually reduce the output voltage so as to gradually reduce the adsorption force generated by the piezoelectric quasicrystal coating.

[0015] In combination with the first aspect, the piezoelectric quasicrystal coating is a one-dimensional hexagonal piezoelectric quasicrystal coating.

[0016] In combination with the first aspect, before the step of controlling the execution end to move to the initial position, the method further includes:

[0017] Get the current position and target position of the object to be grasped;

[0018] According to the current position and the target position, the robot's running trajectory is planned; the running trajectory includes the initial position and the end position of the execution end.

[0019] In combination with the first aspect, the operation trajectory of the robot is planned according to the current position and the target position; the operation trajectory includes the steps of executing the initial position and the terminal position of the end, including:

[0020] Determine the first position at a preset height above the current position as the initial position;

[0021] At the same time, a second position at a preset height above the current position is determined as the end position.

[0022] In a second aspect, the present application provides a robot control device, which is applied to a control mechanism in a robot control system. The robot control system includes a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; the device includes:

[0023] A moving module is used to control the execution end to move to the initial position;

[0024] A picking module is used to control the dynamic voltage regulator to increase the output voltage so that the piezoelectric quasicrystal coating generates an adsorption force until the object is grasped;

[0025] The operation module is used to control the operation of the robot according to a preset operation trajectory so that the end-gripping object is moved to the end position;

[0026] The release module is used to control the dynamic voltage regulator to reduce the output voltage so as to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the object is released to the target position.

[0027] In the third aspect, the present application provides a robot control system, including a control mechanism, a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; the control mechanism is also connected to the robot; the control mechanism is used to execute the method as described above.

[0028] In a fourth aspect, the present application provides an electronic device, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above method.

[0029] In a fifth aspect, the present application provides a storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above method is executed.

[0030] The embodiments of the present invention bring about the following beneficial effects: the robot control method provided in the present application has a piezoelectric quasicrystal coating on the end effector of the robot, and the output voltage of the dynamic voltage regulator 3 is changed, and the applied current input to the piezoelectric quasicrystal coating is changed, so that the adsorption force generated by the piezoelectric quasicrystal coating can be changed. In conjunction with the movement of the robot, the grasping and placement of micro-nano objects and thin-sheet objects can be achieved to improve the grasping accuracy.

[0031] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the structure of a robot end effector provided in an embodiment of the present invention;

[0035] Figure 2 A flow chart of a robot control method provided by an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the process of picking up, moving and releasing an object by a robot control method provided by an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of the structure of a robot control device provided by an embodiment of the present invention;

[0038] Figure 5 A schematic diagram of signal transmission in a robot control system provided by an embodiment of the present invention;

[0039] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0040] Reference numerals:

[0041] 1-Robot, 2-Control mechanism, 3-Dynamic voltage regulator, 4-Piezoelectric quasicrystal coating;

[0042] 10-moving module, 20-picking module, 30-running module, 40-releasing module;

[0043] 130 - processor, 131 - memory, 132 - bus, 133 - communication interface. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] In order to facilitate the understanding of this embodiment, the technical terms designed in this application are briefly introduced below.

[0046] Quasicrystals are a new type of solid structure that is different from both crystals and amorphous materials. Due to their excellent properties, such as corrosion resistance, low thermal conductivity, low friction coefficient, high hardness and high wear resistance, quasicrystals are increasingly being used in surface modification and composite materials.

[0047] Piezoelectric quasicrystal is a quasicrystal with piezoelectric effect. The piezoelectric effect of quasicrystal is simultaneously excited by phonon field and phase subfield. The electric field has a significant influence on the phase subfield of piezoelectric quasicrystal.

[0048] After introducing the technical terms involved in this application, the application scenarios and design concepts of the embodiments of this application are briefly introduced.

[0049] However, it is difficult for existing grippers to accurately grasp and place micro-nano objects, resulting in unsatisfactory grasping accuracy of robots and making it difficult to accurately pick up micro-nano objects.

[0050] Based on this, the embodiments of the present application provide a robot control method, device, system, electronic device, and storage medium to improve grasping accuracy and accurately pick up micro-nano objects.

[0051] Example 1

[0052] The present application provides a robot 1 control method, which is applied to a control mechanism 2 in a robot 1 control system, wherein the robot 1 control system also includes the robot 1 and a dynamic voltage regulator 3; Figure 1 As shown, a piezoelectric quasicrystal coating 4 is provided on the execution end of the robot 1; one end of the dynamic voltage regulator 3 is electrically connected to the piezoelectric quasicrystal coating 4, and the other end is connected to the control mechanism 2. The dynamic voltage regulator 3 is controlled by the control mechanism 2 to adjust the output voltage to adjust the amount of current input to the piezoelectric quasicrystal coating 4, thereby adjusting the adsorption force generated by the piezoelectric quasicrystal coating 4.

[0053] Combination Figure 2 As shown, the method includes:

[0054] S110, controlling the execution end to move to the initial position.

[0055] S120, controlling the dynamic voltage regulator to increase the output voltage so that the piezoelectric quasicrystal coating generates an adsorption force until the object is grasped.

[0056] S130, according to a preset running trajectory, controlling the robot to run so as to move the end-point gripping object to the end position.

[0057] S140, controlling the dynamic voltage regulator to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating 4 until the object is released to the target position.

[0058] In the present application, based on the characteristic that the piezoelectric quasi-crystal coating 4 will produce different adsorption forces under the influence of the input current, the piezoelectric quasi-crystal coating 4 is arranged at the end of the actuator of the robot 1. In the state of picking up an object, the output voltage of the dynamic voltage regulator 3 is increased to increase the current input to the piezoelectric quasi-crystal coating 4, thereby increasing the adsorption force to pick up the object, and then the current input to the piezoelectric quasi-crystal coating 4 is reduced after moving to the end position to release the object. In this way, the adsorption, picking up, transfer and release of micro-nano objects can be achieved, which is conducive to improving the object picking accuracy of the robot 1.

[0059] In combination with the first aspect, step S120 specifically includes: controlling the dynamic voltage regulator 3 to gradually increase the output voltage so as to gradually increase the adsorption force generated by the piezoelectric quasicrystal coating 4 .

[0060] Specifically, quasicrystal materials have many superior properties due to their unique atomic arrangement structure, such as resistance to surface oxidation, low thermal conductivity, low surface energy, low friction coefficient, wear resistance, excellent dispersion strengthening characteristics, high hardness, high elastic modulus, high temperature plasticity, high thermal resistance, oxidation resistance, high electrical resistance, corrosion resistance, low friction coefficient and special optical properties. It has broad application prospects in many scientific and technological fields such as aerospace, new energy, optics, acoustics, metal forming, etc. Since quasicrystals are brittle materials and are easily damaged at room temperature, they cannot be used directly as structural components, but can be used as quasicrystal coatings or quasicrystal film materials attached to specific substrates, combined with Figure 3 As shown, the states of the robot 1 end provided with a piezoelectric quasicrystal coating 4 before grasping an object, when grasping an object, and when releasing the object. It can be seen that the adsorption force generated by applying a small current to the actuator end provided with the piezoelectric quasicrystal coating 4 is not enough to adsorb the object. As the amount of applied current increases, the adsorption force of the actuator end increases. At this time, after the object is adsorbed and moved to the target position, the adsorption is reduced by reducing the applied current to release the object to the target position.

[0061] Through research, it is found that the adsorption force on the surface of piezoelectric quasicrystal materials changes significantly under the influence of current density. Therefore, the output voltage of the dynamic voltage regulator 3 is gradually increased to gradually increase the adsorption force generated by the piezoelectric quasicrystal coating 4. When the object is adsorbed and detached from the supporting surface (such as a desktop, the ground, etc., which are surfaces used to support objects), the output voltage of the dynamic voltage regulator 3 can be stopped from being increased. The current currently applied to the piezoelectric quasicrystal coating 4 can be maintained to maintain the grasping state, thereby reducing unnecessary energy waste.

[0062] In combination with the first aspect, step S140 controls the dynamic voltage regulator to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the object is released to the target position, and further includes:

[0063] The dynamic voltage regulator is controlled to gradually reduce the output voltage so as to gradually reduce the adsorption force generated by the piezoelectric quasicrystal coating.

[0064] Similarly, the adsorption force generated by the piezoelectric quasicrystal coating 4 is gradually reduced to gradually release the object slowly. Since the object is at the micron level, if the output voltage of the dynamic voltage regulator 3 is instantly reduced to zero, when the object is released, it is equivalent to throwing the object directly above the target position, and the rolling of the object is not conducive to the precise release of the object.

[0065] In combination with the first aspect, the piezoelectric quasicrystal coating 4 is a one-dimensional hexagonal piezoelectric quasicrystal coating 4 .

[0066] Quasicrystal materials have unique physical structures and superior mechanical properties. The piezoelectric effect is one of the important physical properties of quasicrystal materials. Due to the existence of phase subfields in quasicrystals, the piezoelectric properties of quasicrystals are much more complicated than those of traditional crystals.

[0067] One-dimensional hexagonal quasicrystals have excellent properties such as low friction coefficient, high wear resistance and high stability. In the present application, one-dimensional hexagonal quasicrystals are used as the preparation material of the piezoelectric quasicrystal coating 4, which can achieve the premise of changing the adsorption force by applying a current, and also has excellent properties such as low friction coefficient, high wear resistance and high stability, so as to improve the service life of the end effector of the robot 1.

[0068] In combination with the first aspect, before the step of controlling the execution end to move to the initial position in S110, the method further includes:

[0069] S100, obtaining the current position and target position of the object to be grasped.

[0070] S101, planning the running trajectory of the robot 1 according to the current position and the target position; the running trajectory includes the initial position and the terminal position of the execution end.

[0071] Among them, as an implementable method, by obtaining the preset point coordinates corresponding to the current position and the target position, and then planning the running trajectory of the robot 1 according to the point coordinates corresponding to the current position and the target position;

[0072] As another feasible method, the control system of the robot 1 also includes a shooting mechanism, which includes an intelligent camera. By taking photos of the object to be picked up and the working environment, the transformation matrix between the robot 1 end effector, the robot 1 body, the object, the camera coordinate system, and the target position point is calculated based on the nine-point calibration method in the prior art, and the running trajectory of the robot 1 end effector is planned according to the conversion relationship of each transformation matrix. The precision and accuracy of data processing can be improved by machine recognition, calculation, and planning. This is a commonly used technical means in the prior art and is not limited here.

[0073] Among them, the operation trajectory of the robot is planned according to the current position and the target position; the operation trajectory includes the steps of executing the initial position and the terminal position of the end, including:

[0074] Determine a first position at a first preset height above the current position as the initial position;

[0075] At the same time, a second position at a second preset height above the current position is determined as the end position;

[0076] The second preset height is less than or equal to the first preset height.

[0077] In this embodiment, since the piezoelectric quasi-crystal coating 4 generates an adsorption force, in order to accurately determine when the object can be adsorbed, the end effector provided with the piezoelectric quasi-crystal coating 4 should be set at the first preset height above the object. When the object is adsorbed and separated from the bearing surface, the output voltage of the dynamic voltage regulator 3 can be stopped from continuing to increase, and the current output voltage can be maintained. In this way, the current input to the piezoelectric quasi-crystal coating 4 is maintained stable and sufficient to adsorb the object, which can effectively avoid energy waste and useless work. Therefore, the first position at the first preset height above the current position of the object is determined as the initial position of the end effector. And the object itself has a certain height, and the current position of the object is determined based on the bottom surface of the object. Therefore, when determining the initial position of the end effector, H1=H0+ΔH1; wherein H1 is the point coordinate of the initial position of the end effector on the z-axis in the object coordinate system; H0 is the point coordinate of the upper surface of the object on the z-axis in the object coordinate system, and ΔH1 is the first preset height value.

[0078] Similarly, when releasing the object, the end position of the end effector is H2=H0+ΔH2, where H2 is the point coordinate of the end position of the end effector on the z-axis in the object coordinate system; H0 is the point coordinate of the upper surface of the object on the z-axis in the object coordinate system, and ΔH2 is the second preset height value, where 0≤ΔH2≤ΔH1. As ΔH2 decreases, the stability of the object is better when releasing the object.

[0079] Furthermore, in order to improve the degree of automation of object picking, the amount of current to be applied to the piezoelectric quasicrystal coating 4 can be calculated in advance according to the parameters of the object, and then the target output voltage of the dynamic voltage regulator 3 can be calculated. In this way, when the current output voltage of the dynamic voltage regulator 3 is equal to the target output voltage, the object can be adsorbed, and the current target output voltage can be maintained at this time. In this way, there is no need to manually observe whether the object is adsorbed, and then control the dynamic voltage regulator 3 to maintain the current output voltage and then start the robot 1 to move the adsorbed object, which can reduce the amount of manual labor and further improve the degree of automation.

[0080] As an implementable method, calculations can be performed based on contact mechanics and contact algorithms. Among them, contact mechanics refers to the interaction between deformable solids in the contact area when they contact each other. Based on the general solution of elastic mechanics, the frequency influence coefficients (FRFs-ICs) are obtained by calculating the frequency response function, and then the DC-FFT algorithm is used to solve the convolution problem quickly and effectively. The DC-FFT algorithm evaluates the response by following the finite sequence discrete convolution theorem in the form of circular convolution, and effectively performs Fourier transform (FFT) and inverse Fourier transform (IFFT), thereby obtaining the deformation and mechanical response of the elastic system.

[0081] In this way, based on the Maugis-Dugdale (MD) model adhesion contact theory, combined with the above-mentioned DC-FFT algorithm and the adhesion-driven conjugate gradient method, the mutual influence relationship between the adhesion force and the electric field of the one-dimensional hexagonal piezoelectric quasicrystal material can be obtained, and then the adhesion force can be controlled by adjusting the current to grasp. The application of piezoelectric quasicrystal materials as gripper materials through contact mechanics will enable the gripper to grasp and place micro-nano objects more accurately. Specifically, the material parameters (including the surface parameters of the piezoelectric quasicrystal coating 4, the surface parameters of the object to be picked up), the load parameters (such as the mass of the object to be picked up, etc.), the adhesion parameters, and the preset convergence accuracy are obtained, and the dimensionless parameters are calculated based on the above parameters to determine the adsorption force implementation area, the profiler and the initial pressure of the piezoelectric quasicrystal coating 4. Based on the Dugdale hypothesis, the basic solution of the elastic field of the piezoelectric quasicrystal coating 4 is determined using rigorous operator theory, Almansi theorem and boundary conditions, and the frequency influence coefficient is calculated. Thereafter, the DC-FFT algorithm is used to calculate the corresponding relationship between the adhesion force, the current and the output voltage of the dynamic voltage regulator, and the target output voltage of the dynamic voltage regulator corresponding to the target adsorption force for picking up the object is calculated.

[0082] In actual application, the current output voltage U of the dynamic voltage regulator is monitored. V , when U V =U0, it indicates that the object has been adsorbed. At this time, the next control procedure is entered, that is, the robot 1 is controlled to move the object to the target position along the planned running trajectory, and then the output voltage of the dynamic voltage regulator 3 is gradually reduced to release the object.

[0083] Secondly, the present application provides a robot control device, which is applied to a control mechanism 2 in a robot 1 control system. The robot 1 control system includes a robot 1 and a dynamic voltage regulator 3; a piezoelectric quasicrystal coating 4 is provided on the execution end of the robot 1; one end of the dynamic voltage regulator 3 is electrically connected to the piezoelectric quasicrystal coating 4, and the other end is connected to the control mechanism 2.

[0084] Combination Figure 4 As shown, the device includes: a moving module 10, a picking module 20, an operating module 30 and a releasing module 40.

[0085] The moving module 10 is used to control the execution end to move to the initial position.

[0086] The picking module 20 is used to control the dynamic voltage regulator 3 to increase the output current so that the piezoelectric quasicrystal coating 4 generates an adsorption force until the object is grasped.

[0087] The operation module 30 is used to control the operation of the robot according to a preset operation trajectory so as to move the end-point gripping object to the end position.

[0088] The release module 40 is used to control the dynamic voltage regulator 3 to reduce the output voltage, so as to reduce the adsorption force generated by the piezoelectric quasicrystal coating 4 until the object is released to the target position.

[0089] In a third aspect, the present application provides a robot control system, combined with Figure 5 The control system shown includes a control mechanism 2, a robot 1 and a dynamic voltage regulator 3; a piezoelectric quasicrystal coating 4 is provided on the execution end of the robot 1; one end of the dynamic voltage regulator 3 is electrically connected to the piezoelectric quasicrystal coating 4, and the other end is connected to the control mechanism 2; the control mechanism 2 is also connected to the robot 1; the control mechanism 2 is used for the above method.

[0090] In a fourth aspect, an embodiment of the present application provides an electronic device, Figure 6 As shown, the electronic device includes a memory 131 and a processor 130. The memory 131 is used to store computer programs, and the processor 130 runs the computer programs to enable the electronic device to perform the above method.

[0091] Furthermore, combined with Figure 6 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0092] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0093] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the above embodiment in combination with its hardware.

[0094] In a fifth aspect, an embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above-mentioned layered verification method based on traffic recording and playback is executed.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0096] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0098] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0099] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A robot control method, characterized in that: The method is applied to a control mechanism in a robot control system, wherein the robot control system further comprises a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; One end of the dynamic voltage regulator is electrically connected to the piezoelectric quasi-crystal coating, and the other end is connected to the control mechanism; the method comprises: Controlling the execution end to move to an initial position; Based on the Maugis-Dugdale model adhesion contact theory, combined with the DC-FFT algorithm and the adhesion-driven conjugate gradient method, the mutual influence relationship between the adhesion force and the electric field of the piezoelectric quasicrystal coating is obtained, and then the adhesion force is controlled by adjusting the current to grasp; specifically, the material parameters, load parameters, adhesion parameters, and preset convergence accuracy are obtained, wherein the material parameters at least include the surface parameters of the piezoelectric quasicrystal coating and the surface parameters of the micro-nano object to be picked up, and the load parameters at least include the mass of the micro-nano object to be picked up; based on the material parameters, the load parameters, the adhesion parameters and the preset convergence accuracy, the dimensionless parameters are calculated to determine the adsorption force implementation area, the profiler and the initial pressure of the piezoelectric quasicrystal coating; based on the Dugdale hypothesis, the strict operator theory and Almansi theorem and boundary conditions are used to determine the basic solution of the elastic field of the piezoelectric quasicrystal coating, and the frequency influence coefficient is calculated; thereafter, the DC-FFT algorithm is used to calculate the corresponding relationship between the adhesion force and the current and the output voltage of the dynamic voltage regulator, and the target output voltage of the dynamic voltage regulator corresponding to the target adsorption force of the micro-nano object is calculated; According to a preset running trajectory, the robot is controlled to run so that the execution end clamps the micro-nano object and moves to the end position; The dynamic voltage regulator is controlled to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the micro-nano object is released to the target position.

2. The method according to claim 1, characterized in that The step of controlling the dynamic voltage regulator to reduce the output voltage to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the micro-nano object is released to the target position also includes: The dynamic voltage regulator is controlled to gradually reduce the output voltage so as to gradually reduce the adsorption force generated by the piezoelectric quasicrystal coating.

3. The method according to claim 1, characterized in that The piezoelectric quasicrystal coating is a one-dimensional hexagonal piezoelectric quasicrystal coating.

4. The method according to claim 1, characterized in that: Before the step of controlling the execution end to move to the initial position, the method further includes: Obtaining the current position and target position of the micro-nano object to be grasped; According to the current position and the target position, the operation trajectory of the robot is planned; the operation trajectory includes the initial position and the end position of the execution end.

5. The method according to claim 4, characterized in that According to the current position and the target position, the operation trajectory of the robot is planned; the operation trajectory includes the initial position and the terminal position of the execution end, and the steps include: Determine a first position at a preset height above the current position as an initial position; At the same time, a second position at a preset height above the current position is determined as the end position.

6. A robot control device, characterized in that: A control mechanism used in a robot control system, the robot control system comprising a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; The device is used to perform the method according to any one of claims 1 to 5; the device comprises: A moving module, used for controlling the execution end to move to an initial position; A pickup module, used for controlling a dynamic voltage regulator to increase an output voltage, so that the piezoelectric quasicrystal coating generates an adsorption force until the micro-nano object is captured; An operation module, used for controlling the operation of the robot according to a preset operation trajectory so that the execution end clamps the micro-nano object and moves it to an end position; The release module is used to control the dynamic voltage regulator to reduce the output voltage so as to reduce the adsorption force generated by the piezoelectric quasicrystal coating until the micro-nano object is released to the target position.

7. A robot control system, characterized in that: It comprises a control mechanism, a robot and a dynamic voltage regulator; a piezoelectric quasicrystal coating is provided on the execution end of the robot; one end of the dynamic voltage regulator is electrically connected to the piezoelectric quasicrystal coating, and the other end is connected to the control mechanism; the control mechanism is also connected to the robot; the control mechanism is used to execute the method described in any one of claims 1-5.

8. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the method according to any one of claims 1 to 5.

9. A storage medium, characterized in that: The storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the method according to any one of claims 1 to 5 is executed.

Images