Residual vibration control methods, devices, equipment and storage media

Abstract

This invention discloses a residual vibration control method, apparatus, device, and storage medium. The method involves: acquiring the robot's current trajectory type; if the current trajectory type is a first motion trajectory type, determining a first motion rate planning value and a first joint angle; the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint-to-Cartesian rotation motion trajectory type; shaping the first motion rate planning value and the first joint angle using an input shaper to obtain a first motion rate shaped value and a first angle shaped value; determining the robot's current pose based on a first Cartesian pose and a second Cartesian pose, where the first Cartesian pose is determined based on the first angle shaped value, and the second Cartesian pose is determined based on the first motion rate shaped value; and determining the robot's current velocity and acceleration based on the current pose to control the robot's residual vibration. This method effectively improves the accuracy and practicality of residual vibration control.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robotics, and in particular to a residual vibration control method, apparatus, device, and storage medium. Background Technology

[0002] During robot motion, significant residual vibrations occur during the start-up and shutdown phases, which greatly affect the robot's motion accuracy and control performance. Currently, commonly used methods for controlling robot residual vibrations are mostly offline vibration control methods or path-based input shaping methods.

[0003] However, current residual vibration control methods generally suffer from low residual vibration control accuracy and the inability to achieve cross-space fusion path shaping, resulting in low practicality. Summary of the Invention

[0004] This invention provides a residual vibration control method, apparatus, device, and storage medium to solve the problems of low residual vibration control accuracy and inability to achieve cross-space fusion path shaping in current residual vibration control methods, resulting in low practicality.

[0005] According to one aspect of the present invention, a residual vibration control method is provided, comprising:

[0006] Obtain the robot's current trajectory type;

[0007] If the trajectory type at the current moment is a first motion trajectory type, then a first motion rate planning value and a first joint angle are determined, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type;

[0008] The first motion rate planning value and the first joint angle are shaped by the input shaper to obtain the first motion rate shaped value and the first angle shaped value;

[0009] The robot's current pose is determined based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value.

[0010] Based on the current pose, the robot's current velocity and acceleration are determined to control the robot's residual vibration.

[0011] According to another aspect of the present invention, a residual vibration control device is provided, comprising:

[0012] The type acquisition module is used to obtain the trajectory type of the robot at the current moment;

[0013] The data determination module is used to determine a first motion rate planning value and a first joint angle if the trajectory type at the current moment is a first motion trajectory type, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type.

[0014] The shaping value determination module is used to shape the first motion rate planning value and the first joint angle by inputting a shaping device to obtain the first motion rate shaping value and the first angle shaping value;

[0015] The pose determination module is used to determine the pose of the robot at the current moment based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value.

[0016] The velocity determination module is used to determine the robot's velocity and acceleration at the current moment based on the robot's pose at the current moment, so as to control the robot's residual vibration.

[0017] According to another aspect of the present invention, a residual vibration control device is provided, the residual vibration control device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the residual vibration control method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the residual vibration control method according to any embodiment of the present invention.

[0022] The technical solution provided in this invention provides the following steps: First, the trajectory type of the robot at the current moment is obtained. If the trajectory type at the current moment is a first motion trajectory type, a first motion rate planning value and a first joint angle are determined. The first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint-to-Cartesian rotation fusion motion trajectory type. The first motion rate planning value and the first joint angle are shaped using an input shaper to obtain a first motion rate shaped value and a first angle shaped value. Based on a first Cartesian pose and a second Cartesian pose, the robot's pose at the current moment is determined. The first Cartesian pose is determined based on the first angle shaped value, and the second Cartesian pose is determined based on the first motion rate shaped value. Based on the pose at the current moment, the robot's velocity and acceleration at the current moment are determined to control the robot's residual vibration. Through the above technical solution, if the trajectory type at the current moment is a first motion trajectory type, which includes a Cartesian joint fusion motion trajectory type and / or a joint-to-Cartesian fusion motion trajectory type, after calculating the first motion rate planning value and the first joint angle of the first motion trajectory type, the first motion rate planning value and the first joint angle are shaped using an input shaper. Based on the shaping result, the first Cartesian pose and the second Cartesian pose are determined, effectively avoiding the problem of trajectory deformation and improving the accuracy of pose determination. Furthermore, the cross-space fusion of trajectories is achieved through the first Cartesian pose and the second Cartesian pose, effectively improving the accuracy and practicality of residual vibration control. This solves the problem that current residual vibration control methods generally have low residual vibration control accuracy and cannot achieve cross-space fusion path shaping, resulting in low practicality.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a residual vibration control method provided in Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of a residual vibration control method provided in Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of a residual vibration control device provided in Embodiment 3 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a residual vibration control device provided in Embodiment 4 of the present invention. Detailed Implementation

[0029] 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 should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a residual vibration control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the control of residual vibration of a robot. The method can be executed by a residual vibration control device, which can be implemented in hardware and / or software and can be configured in a residual vibration control equipment. Figure 1 As shown, the method includes:

[0033] S110. Obtain the trajectory type of the robot at the current moment.

[0034] In this embodiment, the robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. The robot can perform tasks such as operations or movement through programming or automatic control. Trajectory types can include joint motion trajectory types, joint-to-joint fusion motion trajectory types, Cartesian motion trajectory types, joint-to-Cartesian fusion motion trajectory types, Cartesian-to-joint fusion motion trajectory types, and Cartesian-to-Cartesian fusion motion trajectory types. Among these, joint motion trajectory types can be understood as trajectory types based on joint space planning. Cartesian motion trajectory types can be understood as trajectory types based on Cartesian space planning. Cartesian-to-joint fusion motion trajectory types can be understood as intermediate trajectory types transitioning from Cartesian motion trajectory types to joint motion trajectory types. Joint-to-Cartesian fusion motion trajectory types can be understood as intermediate trajectory types transitioning from joint motion trajectory types to Cartesian trajectory types. Joint-to-joint fusion motion trajectory types can be understood as intermediate trajectory types transitioning from joint motion trajectory types to joint motion trajectory types. Cartesian-to-Cartesian fusion motion trajectory types can be understood as intermediate trajectory types transitioning from Cartesian motion trajectory types to Cartesian motion trajectory types.

[0035] Specifically, in industrial production, robots often require rapid movement and precise positioning. However, due to the presence of flexible structures such as harmonic reducers and belts, their end effectors exhibit severe residual vibrations after movement, significantly impacting production efficiency and positioning accuracy. Therefore, it is necessary to suppress these residual vibrations. The first step is to acquire the robot's current trajectory type for precise control based on different trajectory types. This technical solution can collect the robot's trajectory type in real time during its movement to achieve real-time online suppression of residual vibrations in the robot's trajectory.

[0036] This embodiment does not limit the method of obtaining the trajectory type; it can be directly input or calculated based on relevant data from the robot.

[0037] S120. If the trajectory type at the current moment is a first motion trajectory type, then determine the first motion rate planning value and the first joint angle, wherein the first motion trajectory type includes Cartesian rotation joint fusion motion trajectory type and / or joint rotation Cartesian fusion motion trajectory type.

[0038] In this embodiment, the first motion trajectory type includes a Cartesian joint-to-joint fusion motion trajectory type and / or a joint-to-Cartesian fusion motion trajectory type. The first motion rate planning value includes the robot pose calculated using a trajectory planning algorithm based on certain motion constraints, and is generally represented as a one-dimensional scalar. The first joint angle includes the joint angles corresponding to a preset number (e.g., six) of the robot's joints calculated using a trajectory planning algorithm.

[0039] Specifically, considering that the Cartesian joint fusion motion trajectory type and / or joint-to-Cartesian fusion motion trajectory type involve trajectory fusion across Cartesian space and joint space, if the trajectory type at the current moment is determined to be the first motion trajectory type, i.e., the trajectory type at the current moment is the Cartesian joint fusion motion trajectory type and / or joint-to-Cartesian fusion motion trajectory type, then it is necessary to further calculate the first motion rate planning value and the first joint angle corresponding to the first motion trajectory type. The first joint angle can be calculated using trajectory planning algorithms and inverse kinematics algorithms. This embodiment does not limit the method of calculating the first motion rate planning value and the first joint angle.

[0040] S130. The first motion rate planning value and the first joint angle are shaped by the input shaper to obtain the first motion rate shaped value and the first angle shaped value.

[0041] In this embodiment, the input shaper includes a pre-designed shaper, the time-domain expression of which is as follows:

[0042]

[0043] Among them, A i and t i These represent the amplitude and corresponding time delay of the shaping pulse sequence, calculated from the robot's vibration frequency and damping. n is the number of pulses input to the shaper. σ represents the input shaper's value selection function. i represents the pulse number. c(t) represents the final shaped value.

[0044] Specifically, after obtaining the first motion rate shaping value and the first angle shaping value, the first motion rate planning value and the first joint angle can be directly shaped by the input shaper to obtain the first motion rate shaping value and the first angle shaping value. However, some current technologies calculate the robot's current pose and then use an input shaper to shape the pose, which often results in trajectory distortion. Therefore, the embodiments of the present invention can effectively avoid this situation and lay the foundation for accurately determining the robot's pose.

[0045] S140. Determine the robot's current pose based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value.

[0046] In this embodiment, the first Cartesian pose is calculated using a forward kinematics algorithm based on the first angle shaping value, and can be represented as P1. The second Cartesian pose is calculated using a trajectory planning algorithm based on the first motion rate shaping value, and can be represented as P2. The pose at the current moment refers to the robot's position and orientation in the specified spatial coordinate system at the current moment.

[0047] Specifically, after obtaining the first motion rate shaping value and the first angle shaping value through the input shaper, considering that the motion rate velocities corresponding to joint space and Cartesian space are generally asynchronous, which may lead to velocity jumps, it is necessary to calculate the first Cartesian pose based on the first angle shaping value and the second Cartesian pose based on the first motion rate shaping value. Then, the robot's current pose is determined by reasonably fusing the first and second Cartesian poses. The current pose can be represented as P. -res This achieves a smooth transition between joint space and Cartesian space. It is worth noting that this embodiment does not limit the fusion calculation method for the first and second Cartesian poses.

[0048] S150. Based on the current pose, determine the robot's current velocity and acceleration to control the robot's residual vibration.

[0049] Specifically, by performing a difference operation between the current pose and the previous pose, the current velocity can be obtained. Then, by performing a difference operation between the current velocity and the previous velocity, the current acceleration can be obtained. Finally, the current velocity and acceleration can be used to control the robot's residual vibration.

[0050] The technical solution provided in Embodiment 1 of this invention obtains the trajectory type of the robot at the current moment; if the trajectory type at the current moment is a first motion trajectory type, then a first motion rate planning value and a first joint angle are determined, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type; the first motion rate planning value and the first joint angle are shaped by an input shaper to obtain a first motion rate shaped value and a first angle shaped value; based on a first Cartesian pose and a second Cartesian pose, the pose of the robot at the current moment is determined, wherein the first Cartesian pose is determined based on the first angle shaped value, and the second Cartesian pose is determined based on the first motion rate shaped value; according to the pose at the current moment, the velocity and acceleration of the robot at the current moment are determined to control the residual vibration of the robot. Through the above technical solution, after obtaining the first motion rate planning value and the first joint angle of the first motion trajectory type, the first motion rate planning value and the first joint angle are shaped using an input shaper. Based on the shaping result, the first Cartesian pose and the second Cartesian pose are determined, which effectively avoids the problem of trajectory deformation and improves the accuracy of pose determination. Furthermore, the cross-space fusion of trajectories is realized through the first Cartesian pose and the second Cartesian pose, which effectively improves the accuracy and practicality of residual vibration control and solves the problem that current residual vibration control methods generally have low residual vibration control accuracy and cannot achieve cross-space fusion path shaping, resulting in low practicality.

[0051] In some embodiments, determining the first motion rate planning value if the trajectory type at the current moment is a first motion trajectory type includes: if the trajectory type at the current moment is a joint-to-Cartesian fusion motion trajectory type, then using the first motion rate command value as the first motion rate planning value, wherein the first motion rate command value is determined by a trajectory planning algorithm; if the trajectory type at the current moment is a Cartesian joint-to-joint fusion motion trajectory type, then adding the motion rate planning value corresponding to the end time of the previous Cartesian motion trajectory type to the second motion rate command value corresponding to the trajectory type at the current moment to obtain the first motion rate planning value, wherein the second motion rate command value is determined by the trajectory planning algorithm.

[0052] Specifically, if the trajectory type at the current moment is a joint-to-Cartesian fusion motion trajectory type, the first motion rate command value can be directly calculated through the trajectory planning algorithm, and then the first motion rate command value can be used as the first motion rate planning value.

[0053] If the trajectory type at the current moment is a Cartesian joint fusion motion trajectory type, then the second motion rate command value corresponding to the trajectory type at the current moment is calculated by the trajectory planning algorithm. Then, the motion rate planning value corresponding to the end moment of the previous Cartesian motion trajectory type is added to the second motion rate command value corresponding to the trajectory type at the current moment to obtain the first motion rate planning value.

[0054] For example, the previous segment of the Cartesian joint fusion motion trajectory type is a Cartesian motion trajectory type. The motion rate planning value corresponding to the end time of this Cartesian motion trajectory type is 100. In order to ensure the continuity of the input shaper, when calculating the first motion rate planning value corresponding to the Cartesian joint fusion motion trajectory type, the motion rate planning value 100 corresponding to the end time of the previous segment of the Cartesian motion trajectory type should be added to the second motion rate command value corresponding to the current Cartesian joint fusion motion trajectory type. After obtaining the first motion rate planning value, the input shaper is then used for shaping.

[0055] By employing the above methods, different approaches are used to calculate the first motion rate planning value for different types of first motion trajectories, effectively improving the accuracy of determining the first motion rate planning value and laying the foundation for further improving the accuracy of pose determination.

[0056] In some embodiments, the residual vibration control method further includes: if the trajectory type at the current moment is a second motion trajectory type, then adding the motion rate planning value corresponding to the end time of the previous Cartesian motion type to the third motion rate command value corresponding to the second motion trajectory type to obtain a second motion rate planning value, wherein the second motion trajectory type includes a Cartesian-to-Cartesian fusion motion trajectory type, and the third motion rate command value is determined by a trajectory planning algorithm; shaping the second motion rate planning value through the input shaper to obtain a second motion rate shaped value; and determining the robot's pose at the current moment based on a third Cartesian pose, wherein the third Cartesian pose is determined based on the second motion rate shaped value.

[0057] Specifically, if the current trajectory type is the second motion trajectory type, i.e., a Cartesian-to-Cartesian fused motion trajectory type, then the previous trajectory type is a Cartesian motion trajectory type. First, the trajectory planning algorithm calculates the third motion rate command value corresponding to the current second motion trajectory type. Then, this value is added to the motion rate planning value corresponding to the end time of the previous Cartesian motion type to obtain the second motion rate planning value corresponding to the current trajectory type. Next, the second motion rate planning value is shaped by an input shaper to obtain the second motion rate shaped value. Finally, the trajectory planning algorithm determines the third Cartesian pose based on the second motion rate shaped value, and this third Cartesian pose is used as the robot's current pose. Through this technical solution, the robot pose is determined for different trajectory types, effectively improving the accuracy of pose determination.

[0058] In some embodiments, the residual vibration control method further includes: if the trajectory type at the current moment is a third motion trajectory type, then when the previous trajectory type is the first motion trajectory type or the second motion trajectory type, adding the motion rate planning value corresponding to the end time of the previous trajectory type to the fourth motion rate command value corresponding to the third motion trajectory type to obtain a third motion rate planning value, wherein the third motion trajectory type includes a Cartesian motion trajectory type, and the fourth motion rate command value is determined by a trajectory planning algorithm; shaping the third motion rate planning value through the input shaper to obtain a third motion rate shaped value; and determining the robot's pose at the current moment based on the fourth Cartesian pose, wherein the fourth Cartesian pose is determined based on the third motion rate shaped value.

[0059] Specifically, if the current trajectory type is the third motion trajectory type, i.e., the Cartesian motion trajectory type, then the influence of the previous trajectory type on the current trajectory type needs to be considered. If the previous trajectory type is the first or second motion trajectory type, then the motion rate planning value corresponding to the end time of the previous trajectory type needs to be added to the fourth motion rate command value calculated by the trajectory planning algorithm to obtain the third motion rate planning value. Then, the third motion rate planning value is shaped by the input shaper to obtain the third motion rate shaped value. Finally, the trajectory planning algorithm determines the fourth Cartesian pose based on the third motion rate shaped value, and then uses the fourth Cartesian pose as the robot's current pose. Through the above technical solution, the robot pose is determined for different trajectory types, effectively improving the accuracy of pose determination.

[0060] Optionally, if the previous trajectory type is neither the first motion trajectory type nor the second motion trajectory type, the fourth motion rate instruction value calculated by the trajectory planning algorithm can be directly used as the third motion rate planning value.

[0061] In some embodiments, the residual vibration control method further includes: if the trajectory type at the current moment is a fourth motion trajectory type, then shaping the second joint angle through the input shaper to obtain a second angle shaping value, wherein the fourth motion trajectory type includes a joint motion trajectory type and a joint rotation fusion motion trajectory type, and the second joint angle is determined by a trajectory planning algorithm; and determining the robot's pose at the current moment based on a fifth Cartesian pose, wherein the fifth Cartesian pose is determined based on the second angle shaping value.

[0062] Specifically, if the current trajectory type is the fourth motion trajectory type, i.e., a joint motion trajectory type and a joint rotation fusion motion trajectory type, then after calculating the second joint angle using a trajectory planning algorithm, the second joint angle is shaped using an input shaper to obtain the shaped second angle value. Based on the shaped second angle value, the fifth Cartesian pose can be calculated using a forward kinematics algorithm, and then the fifth Cartesian pose can be directly used as the robot's current pose. Through the above technical solution, the robot pose can be determined for different trajectory types, effectively improving the accuracy of pose determination.

[0063] In some embodiments, the input shaper includes a joint shaper and a motion rate shaper, the joint shaper being used to shape joint angles and the motion rate shaper being used to shape motion rate planning values.

[0064] Specifically, in order to effectively improve the shaping efficiency of the input shaper, this embodiment designs two sets of input shapers using the same parameters, including a joint shaper and a motion rate shaper. The joint shaper is used to shape the joint angle, and the motion rate shaper can be used to shape the motion rate planning value.

[0065] Example 2

[0066] Figure 2 This is a flowchart of a residual vibration control method provided in Embodiment 2 of the present invention. This embodiment is an optimization and extension based on the above optional embodiments. This embodiment elaborates on how to determine the robot's current pose based on the first Cartesian pose and the second Cartesian pose. Figure 2 As shown, the method includes:

[0067] S210. Obtain the trajectory type of the robot at the current moment.

[0068] S220. If the trajectory type at the current moment is a first motion trajectory type, then determine the first motion rate planning value and the first joint angle, wherein the first motion trajectory type includes Cartesian rotation joint fusion motion trajectory type and / or joint rotation Cartesian fusion motion trajectory type.

[0069] S230. The first motion rate planning value and the first joint angle are shaped by the input shaper to obtain the first motion rate shaped value and the first angle shaped value.

[0070] S240. Use a quintic polynomial programming algorithm to determine the first and second transition parameters.

[0071] In this embodiment, the quintic polynomial programming algorithm is a smooth trajectory planning method that allows the robot's acceleration and curvature to change continuously during motion, achieving smooth and stable control. The first and second transition parameters both range from [0,1].

[0072] Specifically, considering that the motion rates in joint space and Cartesian space are asynchronous, which may lead to speed jumps, a transition factor is introduced in this embodiment. That is, the first transition parameter and the second transition parameter are determined by using a fifth-order polynomial programming algorithm to achieve a smooth transition between joint space and Cartesian control.

[0073] S250. Calculate the first product of the first transition parameter and the first Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value.

[0074] Specifically, the forward kinematics algorithm is used based on the first angle shaping value J. 1-res The first Cartesian pose P1 is calculated, and then the first product is calculated using the following formula:

[0075] T1 = K1 * P1

[0076] Where T1 represents the first product and K1 represents the first transition parameter.

[0077] S260. Calculate the second product of the second transition parameter and the second Cartesian pose, wherein the second Cartesian pose is determined based on the first motion rate shaping value.

[0078] Specifically, the trajectory planning algorithm is based on the first motion rate shaping value U. 1-res The second Cartesian pose P2 is calculated, and then the second product is calculated using the following formula:

[0079] T2 = K2 * P2

[0080] Where T2 represents the second product and K2 represents the second transition parameter.

[0081] S270. The sum of the first product and the second product is determined as the pose at the current moment.

[0082] Specifically, the pose at the current moment can be determined in the following way:

[0083] P -res =T1+T2

[0084] S280. Based on the current pose, determine the robot's current velocity and acceleration to control the robot's residual vibration.

[0085] The technical solution provided in Embodiment 2 of the present invention introduces a first transition parameter and a second transition parameter through a fifth-order polynomial programming algorithm when determining the pose at the current moment. It calculates the first product of the first transition parameter and the first Cartesian pose, and the second product of the second transition parameter and the second Cartesian pose. The sum of the first product and the second product is then used to determine the pose at the current moment, thereby achieving a smooth transition between joint space and Cartesian space and effectively improving the accuracy of pose determination.

[0086] For example, suppose there are three consecutive trajectories: a Cartesian straight line trajectory, a Cartesian-Cartesian fusion trajectory, and a Cartesian straight line trajectory. Each of the three trajectories is planned independently, with a motion rate command value of 0-100. In this scheme, the first trajectory, the Cartesian straight line trajectory, is planned normally, and the motion rate command value of 0-100 is directly sent to the shaper. For the Cartesian-Cartesian fusion trajectory, the normal trajectory planning motion rate command value is 0-100. To ensure continuity in the shaper, the motion rate command value of the second trajectory's planning result is all incremented by 100, so the second trajectory ultimately sends a motion rate planning value of 100-200 to the shaper. For the third trajectory, the Cartesian straight line trajectory, the normal trajectory planning motion rate command value is 0-100. Because the previous trajectory is a fusion motion (the motion rate planning value at the end of the previous trajectory was 200), the motion rate command value of the third trajectory's planning result is all incremented by 200, so the motion rate planning value sent to the shaper is 200-300.

[0087] For example, suppose there are three consecutive trajectories, namely Cartesian straight line trajectory, Cartesian straight line trajectory, and Cartesian straight line trajectory. The three trajectories are planned separately, and the motion rate command values ​​are all 0-100. Since there is no motion fusion, the motion rate command values ​​of the three trajectories do not need to be processed and can be directly sent to the input shaper as motion rate planning values.

[0088] For example, suppose there are three consecutive trajectories: a Cartesian straight-line trajectory, a Cartesian-joint fusion trajectory, and a joint trajectory. The motion rate instruction values ​​for the Cartesian straight-line trajectory and the Cartesian-joint fusion trajectory, when planned individually, are both 0-100. The first trajectory executes normally, sending the motion rate instruction value of 0-100 as the motion rate planning value to the input shaper. The second trajectory, with its normal motion rate instruction value of 0-100, has its motion rate instruction value of the Cartesian-joint fusion trajectory increased by 100 to ensure continuity in the shaper. Therefore, the value sent to the shaper for the second trajectory becomes a motion rate planning value of 100-200. This value, after shaping, yields the second Cartesian pose P2. Based on the original planning, the first joint angle can be obtained through forward kinematics. After shaping the first joint angle, forward kinematics is performed to obtain the first Cartesian pose P1. A fifth-order polynomial programming algorithm is used to transition between P1 and P2. The third trajectory directly shapes the joint angles.

[0089] Example 3

[0090] Figure 3 This is a schematic diagram of a residual vibration control device provided in Embodiment 3 of the present invention.

[0091] like Figure 3 As shown, the device includes:

[0092] Type acquisition module 31 is used to acquire the trajectory type of the robot at the current moment;

[0093] The data determination module 32 is used to determine a first motion rate planning value and a first joint angle if the trajectory type at the current moment is a first motion trajectory type, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type.

[0094] The shaping value determination module 33 is used to shape the first motion rate planning value and the first joint angle by inputting a shaping device to obtain the first motion rate shaping value and the first angle shaping value;

[0095] The pose determination module 34 is used to determine the pose of the robot at the current moment based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value and the second Cartesian pose is determined based on the first motion rate shaping value.

[0096] The velocity determination module 35 is used to determine the velocity and acceleration of the robot at the current moment based on the pose at the current moment, so as to control the residual vibration of the robot.

[0097] The technical solution provided in Embodiment 3 of the present invention effectively improves the accuracy and practicality of residual vibration control, and solves the problems of low residual vibration control accuracy and inability to achieve cross-space fusion path shaping in current residual vibration control methods, which leads to low practicality.

[0098] Optionally, the data determination module 32 includes:

[0099] The first determining unit is configured to use the first motion rate command value as the first motion rate planning value if the trajectory type at the current moment is a joint-to-Cartesian fusion motion trajectory type, wherein the first motion rate command value is determined by a trajectory planning algorithm.

[0100] The second determining unit is configured to, if the trajectory type at the current moment is a Cartesian joint fusion motion trajectory type, add the motion rate planning value corresponding to the end time of the previous Cartesian motion trajectory type to the second motion rate instruction value corresponding to the trajectory type at the current moment to obtain a first motion rate planning value, wherein the second motion rate instruction value is determined by the trajectory planning algorithm.

[0101] Optionally, the pose determination module 34 includes:

[0102] The parameter determination unit is used to determine the first and second transition parameters using a quintic polynomial programming algorithm.

[0103] The first product calculation unit is used to calculate the first product of the first transition parameter and the first Cartesian pose.

[0104] The second product calculation unit is used to calculate the second product of the second transition parameter and the second Cartesian pose.

[0105] The pose determination unit is used to determine the pose at the current moment by the sum of the first product and the second product.

[0106] Optional, the residual vibration control device also includes:

[0107] The second planning value determination module is used to add the motion rate planning value corresponding to the end time of the previous Cartesian motion type to the third motion rate instruction value corresponding to the second motion trajectory type if the trajectory type at the current time is the second motion trajectory type, so as to obtain the second motion rate planning value. The second motion trajectory type includes Cartesian to Cartesian fusion motion trajectory type, and the third motion rate instruction value is determined by the trajectory planning algorithm.

[0108] The second shaping value determination module is used to shape the second motion rate planning value through the input shaper to obtain the second motion rate shaped value.

[0109] The second pose determination module is used to determine the pose of the robot at the current moment based on the third Cartesian pose, wherein the third Cartesian pose is determined based on the second motion rate shaping value.

[0110] Optional, the residual vibration control device also includes:

[0111] The third planning value determination module is used to, if the trajectory type at the current moment is the third motion trajectory type, add the motion rate planning value corresponding to the end time of the previous trajectory type to the fourth motion rate instruction value corresponding to the third motion trajectory type to obtain the third motion rate planning value when the previous trajectory type is the first motion trajectory type or the second motion trajectory type. The third motion trajectory type includes the Cartesian motion trajectory type, and the fourth motion rate instruction value is determined by the trajectory planning algorithm.

[0112] The third shaping value determination module is used to shape the third motion rate planning value through the input shaper to obtain the third motion rate shaped value.

[0113] The third pose determination module is used to determine the pose of the robot at the current moment based on the fourth Cartesian pose, wherein the fourth Cartesian pose is determined based on the third motion rate shaping value.

[0114] Optional, the residual vibration control device also includes:

[0115] An angle shaping value determination module is used to shape the second joint angle through the input shaper if the trajectory type at the current moment is the fourth motion trajectory type, to obtain the second angle shaping value. The fourth motion trajectory type includes joint motion trajectory type and joint rotation fusion motion trajectory type. The second joint angle is determined by the trajectory planning algorithm.

[0116] The fourth pose determination module is used to determine the pose of the robot at the current moment based on the fifth Cartesian pose, wherein the fifth Cartesian pose is determined based on the second angle shaping value.

[0117] Optionally, the input shaper includes a joint shaper and a motion rate shaper, wherein the joint shaper is used to shape joint angles and the motion rate shaper is used to shape motion rate planning values.

[0118] The residual vibration control device provided in the embodiments of the present invention can execute the residual vibration control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0119] Example 4

[0120] Figure 4This is a schematic diagram of a residual vibration control device according to Embodiment 4 of the present invention. The residual vibration control device can be an electronic device, intended to represent various forms of digital computers, such as laptops, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0121] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0122] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0123] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as residual vibration control methods.

[0124] In some embodiments, the residual vibration control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the residual vibration control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the residual vibration control method by any other suitable means (e.g., by means of firmware).

[0125] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0129] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0130] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0131] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0132] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling residual vibration, characterized in that, include: Obtain the robot's current trajectory type; If the trajectory type at the current moment is a first motion trajectory type, then a first motion rate planning value and a first joint angle are determined, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type; The first motion rate planning value and the first joint angle are shaped by the input shaper to obtain the first motion rate shaped value and the first angle shaped value; The robot's current pose is determined based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value. Based on the current pose, the robot's current velocity and acceleration are determined to control the robot's residual vibration.

2. The method according to claim 1, characterized in that, If the trajectory type at the current moment is a first motion trajectory type, then determining the first motion rate planning value includes: If the trajectory type at the current moment is a joint-to-Cartesian fusion motion trajectory type, then the first motion rate command value is used as the first motion rate planning value, wherein the first motion rate command value is determined by a trajectory planning algorithm; If the trajectory type at the current moment is a Cartesian joint fusion motion trajectory type, then the motion rate planning value corresponding to the end time of the previous Cartesian motion trajectory type is added to the second motion rate instruction value corresponding to the trajectory type at the current moment to obtain the first motion rate planning value, wherein the second motion rate instruction value is determined by the trajectory planning algorithm.

3. The method according to claim 1, characterized in that, Determining the robot's current pose based on the first and second Cartesian poses includes: The first and second transition parameters are determined using a quintic polynomial programming algorithm. Calculate the first product of the first transition parameter and the first Cartesian pose; Calculate the second product of the second transition parameter and the second Cartesian pose; The sum of the first product and the second product is used to determine the pose at the current moment.

4. The method according to claim 1, characterized in that, Also includes: If the trajectory type at the current moment is the second motion trajectory type, then the motion rate planning value corresponding to the end time of the previous Cartesian motion type is added to the third motion rate instruction value corresponding to the second motion trajectory type to obtain the second motion rate planning value. The second motion trajectory type includes the Cartesian to Cartesian fusion motion trajectory type, and the third motion rate instruction value is determined by the trajectory planning algorithm. The second motion rate planning value is shaped by the input shaper to obtain the second motion rate shaped value; The robot's current pose is determined based on the third Cartesian pose, wherein the third Cartesian pose is determined based on the second motion rate shaping value.

5. The method according to claim 4, characterized in that, Also includes: If the trajectory type at the current moment is the third motion trajectory type, then when the previous trajectory type is the first motion trajectory type or the second motion trajectory type, the motion rate planning value corresponding to the end time of the previous trajectory type is added to the fourth motion rate instruction value corresponding to the third motion trajectory type to obtain the third motion rate planning value. The third motion trajectory type includes the Cartesian motion trajectory type, and the fourth motion rate instruction value is determined by the trajectory planning algorithm. The third motion rate planning value is shaped by the input shaper to obtain the third motion rate shaped value. The robot's current pose is determined based on the fourth Cartesian pose, wherein the fourth Cartesian pose is determined based on the third motion rate shaping value.

6. The method according to claim 1, characterized in that, Also includes: If the trajectory type at the current moment is the fourth motion trajectory type, then the second joint angle is shaped by the input shaper to obtain the second angle shaped value. The fourth motion trajectory type includes joint motion trajectory type and joint rotation fusion motion trajectory type. The second joint angle is determined by the trajectory planning algorithm. The robot's current pose is determined based on the fifth Cartesian pose, wherein the fifth Cartesian pose is determined based on the second angle shaping value.

7. The method according to any one of claims 1-6, characterized in that, The input shaper includes a joint shaper and a motion rate shaper. The joint shaper is used to shape joint angles, and the motion rate shaper is used to shape the planned motion rate value.

8. A residual vibration control device, characterized in that, include: The type acquisition module is used to obtain the trajectory type of the robot at the current moment; The data determination module is used to determine a first motion rate planning value and a first joint angle if the trajectory type at the current moment is a first motion trajectory type, wherein the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint rotation Cartesian fusion motion trajectory type. The shaping value determination module is used to shape the first motion rate planning value and the first joint angle by inputting a shaping device to obtain the first motion rate shaping value and the first angle shaping value; The pose determination module is used to determine the pose of the robot at the current moment based on the first Cartesian pose and the second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value. The velocity determination module is used to determine the robot's velocity and acceleration at the current moment based on the robot's pose at the current moment, so as to control the robot's residual vibration.

9. A residual vibration control device, characterized in that, The residual vibration control device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the residual vibration control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the residual vibration control method as described in any one of claims 1-7.

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