A method, device, equipment and medium for determining parameters of a robot link

Abstract

The application discloses a kind of robot bar piece parameter determination method, device, equipment and medium. The three-dimensional model of robot is modeled based on the obtained structural parameters of robot;Wherein, structural parameters include bar piece parameters;Simulation analysis is carried out on three-dimensional model, and the simulation index data corresponding to three-dimensional model is determined;In the case where the simulation index data corresponding to three-dimensional model does not satisfy the operation condition of robot, update the bar piece parameters of three-dimensional model and the structural parameters of robot, and return to execute three-dimensional modeling operation based on updated structural parameters, determine the simulation index data corresponding to new three-dimensional model based on the new three-dimensional model obtained, until the simulation index data satisfying the operation condition of robot is obtained;The bar piece parameters in three-dimensional model corresponding to the simulation index data satisfying the operation condition of robot are determined as target bar piece parameters, and a closed-loop iteration process of bar piece parameters is constructed, the efficiency of robot bar piece parameter determination is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robotics, and in particular to a robot link parameter determination method, device, equipment and medium. BACKGROUND

[0002] A robot is composed of a vision sensor, a mechanical arm and a host computer, and link design is a key to robot design, directly related to the overall performance of the robot.

[0003] At present, the existing technology usually directly substitutes the link parameters into the theoretical formula to establish a corresponding mathematical model, and performs kinematics and dynamics analysis according to the mathematical model to determine the optimal link parameters. However, there are often multiple solutions for the link parameters, and it is difficult to determine the optimal solution of the link parameters through theoretical calculation. SUMMARY

[0004] The present application provides a robot link parameter determination method, device, equipment and medium to solve the problem of difficulty in determining the optimal solution of the link parameters.

[0005] According to an aspect of the present application, a robot link parameter determination method is provided, the method comprising:

[0006] obtaining the structural parameters of the robot; performing three-dimensional modeling based on the structural parameters to obtain a three-dimensional model of the robot; wherein the structural parameters include link parameters;

[0007] performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model;

[0008] updating the link parameters of the three-dimensional model to obtain updated link parameters in the case that the simulation index data corresponding to the three-dimensional model does not meet the operation conditions of the robot;

[0009] updating the structural parameters of the robot based on the updated link parameters, and returning to perform the three-dimensional modeling operation based on the updated structural parameters to obtain a new three-dimensional model, and determining simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until simulation index data meeting the operation conditions of the robot is obtained;

[0010] determining the link parameters in the three-dimensional model corresponding to the simulation index data meeting the operation conditions of the robot as target link parameters.

[0011] According to another aspect of the present application, a robot link parameter determination device is provided, comprising:

[0012] a structural parameter acquisition module configured to obtain the structural parameters of the robot; perform three-dimensional modeling based on the structural parameters to obtain a three-dimensional model of the robot; wherein the structural parameters include link parameters;

[0013] The simulation analysis module is configured to perform simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model.

[0014] The rod parameter updating module is configured to update rod parameters of the three-dimensional model in a case where the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, to obtain updated rod parameters.

[0015] The structure parameter updating module is configured to update structure parameters of the robot based on the updated rod parameters, and return to perform the three-dimensional modeling operation based on the updated structure parameters to obtain a new three-dimensional model, determine simulation index data corresponding to the new three-dimensional model, and repeat the above steps until simulation index data satisfying the operation condition of the robot is obtained.

[0016] The target rod parameter determination module is configured to determine rod parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target rod parameters.

[0017] According to another aspect of the present application, an electronic device is provided, which comprises:

[0018] at least one processor; and

[0019] a memory connected to the at least one processor in communication; wherein

[0020] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method for determining robot rod parameters according to any one of the embodiments of the present application.

[0021] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the method for determining robot rod parameters according to any one of the embodiments of the present application when executed by the processor.

[0022] The technical scheme of the embodiment of the application comprises the following steps: obtaining structural parameters of a robot; performing three-dimensional modeling based on the structural parameters to obtain a three-dimensional model of the robot; wherein the structural parameters comprise rod parameters; performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model; in the case that the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, updating the rod parameters of the three-dimensional model to obtain updated rod parameters; updating the structural parameters of the robot based on the updated rod parameters, and returning to perform the three-dimensional modeling operation based on the updated structural parameters to obtain a new three-dimensional model, and determining simulation index data corresponding to the new three-dimensional model; until simulation index data satisfying the operation condition of the robot is obtained; and determining the rod parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target rod parameters. Through three-dimensional modeling, simulation analysis, and updating the rod parameters in the case that the simulation index data does not satisfy the operation condition of the robot, a closed-loop iteration process for determining the rod parameters of the robot is constructed, automatic updating of the rod parameters of the robot can be realized, manual execution of the above iteration process is not required, human-computer interaction is reduced, and the efficiency of determination of the rod parameters of the robot is improved.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative effort.

[0025] Figure 1 is a flowchart of a method for determining rod parameters of a robot provided by an embodiment of the application;

[0026] Figure 2 is a structural schematic diagram of a robot provided by an embodiment of the application;

[0027] Figure 3 is a flowchart of a closed-loop iteration of rod parameters provided by an embodiment of the application;

[0028] Figure 4 is a flowchart of a method for determining rod parameters of a robot provided by an embodiment of the application;

[0029] Figure 5 is a flowchart of a method for determining rod parameters of a robot provided by an embodiment of the application;

[0030] Figure 6 is a structural schematic diagram of a robot link parameter determination device provided by an embodiment three of the present application;

[0031] Figure 7 is a structural schematic diagram of an electronic device for implementing a robot link parameter determination method of an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment one

[0035] Figure 1 is a flowchart of a robot link parameter determination method provided by an embodiment one of the present application. The present embodiment can be applicable to the case of designing the link parameters of a robot. The method can be executed by a robot link parameter determination device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device such as a computer or a server.

[0036] In the present embodiment, a robot is a semi-automated or automated device capable of performing various tasks, such as a surgical robot and an industrial robot. It should be noted that the robot includes one or more mechanical arms, each mechanical arm corresponding to an execution end; the execution end is configured with an actuator for executing a specific task. The robot includes a plurality of links, and adjacent two links are connected by a joint, which can be a movable joint or an immovable joint.

[0037] Exemplarily, Figure 2 is a structural schematic diagram of a robot provided by an embodiment of the present application, as shown in Figure 2 The robot 20 includes a base 21, a translation joint 22, a rotation joint 23, a rotation joint 24, a translation joint 25, a rotation joint 26, a translation joint 27, an execution end 28, a link 31, a link 32, a link 33, a link 34, a link 35, a link 36, and a link 37. The link 32, the link 33, the link 35, and the link 36 each include one edge, and the link 31, the link 34, and the link 37 each include multiple edges. Each edge of each link is a link element, and the multiple link elements included in the same link are connected through an immovable joint. For example, the link 31 includes four edges, and the link 31 corresponds to four link elements, and the relative positions and angles of the four link elements are fixed.

[0038] As shown in Figure 1 The method includes:

[0039] S110, obtaining a structural parameter of a robot; performing three-dimensional modeling based on the structural parameter to obtain a three-dimensional model of the robot; wherein the structural parameter includes a link element parameter.

[0040] In this embodiment, the structural parameter of the robot is a parameter representing the structure of the robot, and includes a link element parameter of one or more link elements. The link element parameter is a parameter representing the shape of the link element, for example, the link element parameter is a length parameter of the link element.

[0041] Specifically, the link element parameter of the robot can be pre-stored in a structure configuration file. The structure configuration file pre-stored in the local or server is called to read the information in the structure configuration file to obtain the structural parameter of the robot. The link element parameter of the robot can also be a parameter manually configured by a user. The parameter manually configured by the user for the robot is read to obtain the structural parameter of the robot. The three-dimensional model of the robot is a model simulating the three-dimensional structure of the robot. A three-dimensional modeling application is called to create a modeling environment in the three-dimensional modeling application. The structure of the robot is modeled based on the structural parameter in the modeling environment to obtain the three-dimensional model of the robot. The three-dimensional modeling application is an application for three-dimensional modeling. The three-dimensional modeling application can be a local modeling application or an online modeling application, and the present embodiment does not limit this.

[0042] Exemplarily, the locally stored structure configuration file is imported into the local modeling application to enable the local modeling application to automatically model based on the structure configuration file to obtain the three-dimensional model of the robot, and save the three-dimensional model as an.x_t file.

[0043] In some embodiments, the robot comprises a bar member and a non-bar member, and optionally, the structural parameters further comprise a position parameter of the non-bar member; the position parameter of the non-bar member is determined based on the bar member parameters.

[0044] In the embodiment, the non-bar member is a member other than the bar member in the robot, and examples of the non-bar member include one or more of a motor and a circuit board. The position parameter of the non-bar member is a parameter representing the installation position of the non-bar member, which can be a relative position parameter or an absolute position parameter, and the embodiment is not limited in this regard. The relative position parameter is a parameter representing the position of the non-bar member relative to the bar member connected to the non-bar member, for example, the relative position parameter of the non-bar member is "1, 0.2, 0.6, 5, 5, 5", which means that the installation position of the non-bar member is at a position 0.2 times the length of the first bar member away from one end, 0.6 times the length of the bar member away from the other end, and has a volume of 5*5*5 cubic centimeters. The absolute position parameter is a parameter representing the absolute position of the non-bar member in the robot, for example, the absolute position parameter of the non-bar member is "(30, 20, 10), 5, 5, 5", which means that the installation position of the non-bar member is at a position corresponding to the point (30, 20, 10) in a three-dimensional coordinate system, and has a volume of 5*5*5 cubic centimeters.

[0045] The technical solution of the embodiment further comprises the position parameter of the non-bar member, which can provide a position limitation condition for the bar member parameters in subsequent simulation analysis, thereby avoiding the situation that the subsequently determined robot bar member parameters do not match the actual performance of the robot, and helping to improve the reliability of the subsequently determined robot bar member parameters.

[0046] S120, performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model.

[0047] In the embodiment, the simulation analysis is an automatic simulation analysis on the motion of the joint corresponding to the bar member in the three-dimensional model. Optionally, the simulation analysis comprises one or more of kinematics analysis and dynamics analysis. The kinematics analysis is an analysis of the kinematics performance and motion law of the three-dimensional model, and the dynamics analysis is an analysis of the motion cause of the three-dimensional model. For example, if the execution end of the robot does not need to exert an external force, the simulation analysis only comprises kinematics analysis; if the execution end of the robot needs to exert an external force, the simulation analysis comprises kinematics analysis and dynamics analysis.

[0048] The simulation index data is data representing the performance of the three-dimensional model obtained by simulation analysis. In some embodiments, the kinematics analysis simulation index data is data representing the kinematics performance and kinematics law of the three-dimensional model. Optionally, the kinematics analysis simulation index data includes a workspace corresponding to the three-dimensional model; the workspace corresponding to the three-dimensional model includes an overall workspace and / or at least one workspace corresponding to an execution end.

[0049] In the present embodiment, the workspace is a space reachable by the execution end in the three-dimensional model. The overall workspace is a space in which all execution ends corresponding to the links in the three-dimensional model can freely move and operate, and is used to represent the overall kinematics performance and kinematics law of the three-dimensional model. The number of execution ends in the three-dimensional model is consistent with the number of mechanical arms in the robot. The workspace corresponding to an execution end is a space in which the execution end can freely move and operate, and is used to represent the kinematics performance and kinematics law of the mechanical arm corresponding to the execution end in the three-dimensional model. It can be understood that the workspace corresponding to an execution end is limited by the link parameters of one or more links corresponding to the execution end. Taking the workspace corresponding to the three-dimensional model including only the overall workspace as an example, if the three-dimensional model includes two mechanical arms, the overall workspace is composed of the workspaces corresponding to the two execution ends. Taking the workspace corresponding to the three-dimensional model including the overall workspace and at least one workspace corresponding to an execution end as an example, in the case where the three-dimensional model includes one mechanical arm, the overall workspace corresponding to the three-dimensional model is the same as the workspace corresponding to the execution end of the mechanical arm. In the case where the three-dimensional model includes multiple mechanical arms, the overall workspace corresponding to the three-dimensional model is composed of multiple workspaces corresponding to execution ends.

[0050] In some embodiments, the dynamics analysis simulation index data is data representing the motion cause of the three-dimensional model. Optionally, the dynamics analysis simulation index data includes a dynamics parameter corresponding to the three-dimensional model.

[0051] In the present embodiment, the dynamics parameter is a parameter used to describe the motion cause of the joint corresponding to the link in the three-dimensional model. For example, the dynamics parameter includes one or more of the angle, speed, angular acceleration, force, and torque of each joint when the execution end is configured with a load.

[0052] The kinematics analysis simulation index data of the technical scheme of the embodiment includes a workspace corresponding to the three-dimensional model, which helps to determine the pose change range of the three-dimensional model and obtain the kinematics performance and motion law of the robot corresponding to the three-dimensional model; the workspace corresponding to the three-dimensional model includes an overall workspace, which helps to improve the accuracy of determining whether the three-dimensional model needs to update the rod parameter; the workspace corresponding to the three-dimensional model includes at least one work subspace corresponding to an execution end, which helps to quickly determine the mechanical arm that needs to update the rod parameter. The dynamics analysis simulation index data includes dynamics parameters corresponding to the three-dimensional model, which helps to determine the energy required for the movement of the three-dimensional model.

[0053] Specifically, the performance of the three-dimensional model is determined by automatically performing local or online simulation analysis on the three-dimensional model, and simulation index data corresponding to the three-dimensional model is obtained. In some embodiments, the simulation analysis includes one or more of kinematics analysis and dynamics analysis, and optionally, the three-dimensional model is imported into a simulation application corresponding to each simulation analysis; in the simulation application, one or more of the kinematic pair, the gravitational acceleration, the material attribute, and the preset end load of the three-dimensional model are configured; based on the configured simulation application, the three-dimensional model is subjected to simulation analysis corresponding to the simulation application, and kinematics analysis simulation index data and / or dynamics analysis simulation index data corresponding to the three-dimensional model are obtained.

[0054] In the present embodiment, the simulation applications corresponding to different simulation analyses can be the same or different, and the present embodiment does not limit this. The kinematic pair is an active connection representing a movable joint corresponding to two adjacent rods, and it can be understood that an immovable joint does not configure a kinematic pair. The gravitational acceleration is the acceleration obtained by an object in free fall due to the action of the earth's gravity. For example, the gravitational acceleration is configured as 9.8 meters per second squared. The material attribute is the attribute of the material used by the rod and non-rod components. For example, the material attribute of the rod is aluminum. The preset end load is the load of each execution end that is preset, and it should be noted that the preset end load of each execution end is the same as the load of the execution end of the robot in actual work.

[0055] Specifically, in the process of simulation analysis on the three-dimensional model, a simulation application is called, a simulation environment is created in the simulation application, and the three-dimensional model corresponding to the robot is imported into the simulation environment. The simulation application can be a local simulation application or an online simulation application, and the embodiment does not limit this. The simulation environment is a virtual environment simulating the real working environment of the robot, and the simulation environment can be pre-stored in an environment configuration file. The simulation environment in the simulation application is automatically configured based on the information in the environment configuration file by calling the environment configuration file. The simulation environment can also be a virtual environment manually configured by the user. The simulation environment is obtained by reading the environment parameters manually configured by the user in the simulation application, and the embodiment does not limit this. In the case of kinematics simulation, the corresponding simulation application for kinematics analysis is called, and the three-dimensional model is imported into the simulation application corresponding to the kinematics simulation. By configuring the kinematic pair, gravitational acceleration and material properties of the three-dimensional model in the simulation application corresponding to the kinematics simulation, the simulation environment corresponding to the kinematics simulation is created. The three-dimensional model is subjected to kinematics simulation in the simulation environment corresponding to the kinematics simulation, and the simulation result is recorded to obtain the kinematics analysis simulation index data corresponding to the three-dimensional model. In the case of dynamics simulation, the corresponding simulation application for dynamics analysis is called, and the three-dimensional model is imported into the simulation application corresponding to the dynamics simulation. By configuring the kinematic pair, gravitational acceleration, material properties and preset end load of the three-dimensional model in the simulation application corresponding to the dynamics simulation, the simulation environment is created. The three-dimensional model is subjected to dynamics simulation in the simulation environment corresponding to the dynamics simulation, and the simulation result is recorded to obtain the dynamics analysis simulation index data corresponding to the three-dimensional model.

[0056] The technical scheme of the embodiment obtains the kinematics analysis simulation index data and / or the dynamics analysis simulation index data corresponding to the three-dimensional model by performing kinematics analysis and / or dynamics analysis on the three-dimensional model, which helps to determine the motion performance and motion reason of the three-dimensional model and facilitates subsequent analysis of the simulation index data corresponding to the three-dimensional model.

[0057] In some embodiments, the simulation analysis further comprises one or more of collision analysis and task planning analysis, and the simulation index data further comprises one or more of collision analysis simulation index data and task planning analysis simulation index data; the collision analysis is an analysis of collision between any two rods in the three-dimensional model, and the collision analysis simulation index data comprises one or more of collision probability and collision speed; the task planning analysis is an analysis of motion planning of each end effector in the three-dimensional model under each task, and the task planning analysis simulation index data comprises one or more of trajectory planning length and action planning completion time, which are not limited in the embodiment. Through the automatic simulation analysis of one or more of the collision analysis and the task planning analysis of the three-dimensional model, the motion of the three-dimensional model can be more comprehensively analyzed, which helps to improve the reliability of the subsequently determined robot rod parameters.

[0058] In the case that the simulation index data corresponding to the three-dimensional model does not meet the operation condition of the robot, the rod parameters of the three-dimensional model are updated to obtain updated rod parameters.

[0059] In the embodiment, the operation condition of the robot is a condition that the robot itself needs to meet in actual operation, for example, a motion performance condition and a motor load condition.

[0060] Specifically, the simulation index data corresponding to the three-dimensional model is compared with the simulation index data corresponding to the operation condition of the robot. If the simulation index data corresponding to the three-dimensional model does not match the simulation index data corresponding to the operation condition of the robot, it is determined that the simulation index data corresponding to the three-dimensional model does not meet the operation condition of the robot. Optionally, the operation condition of the robot comprises a target workspace of the robot and / or a target dynamics parameter; the target workspace of the robot comprises an overall target workspace and / or a target work subspace corresponding to at least one end effector.

[0061] In the embodiment, the target workspace is a space that can be reached by an end effector in the robot. The overall target workspace is a space in which all end effectors corresponding to the rods in the robot can freely move and operate; the target work subspace corresponding to the end effector is a space in which the end effector in the robot can freely move and operate.

[0062] Specifically, in the case that the simulation analysis includes kinematics analysis, if the operation condition of the robot only includes the overall target workspace, and the workspace corresponding to the three-dimensional model only includes the overall workspace, the overall target workspace is matched with the overall workspace, and in the case that the overall workspace does not match the overall target workspace, it is determined that the kinematics analysis simulation index data corresponding to the three-dimensional model does not meet the operation condition of the robot. It should be noted that in the case that the overall workspace is greater than or equal to the overall target workspace, and the boundary of the overall workspace is above or outside the boundary of the overall target workspace, it is determined that the overall workspace matches the overall target workspace.

[0063] If the operation condition of the robot includes at least one target work subspace corresponding to an execution end, and the workspace corresponding to the three-dimensional model includes at least one work subspace corresponding to the execution end, the target work subspace and the work subspace corresponding to the same execution end are matched, and in the case that the target work subspace and the work subspace corresponding to the same execution end do not match, it is determined that the kinematics analysis simulation index data of the execution end corresponding to the three-dimensional model does not meet the operation condition of the robot, and the rod parameters of at least one rod corresponding to the execution end need to be updated.

[0064] If the operation condition of the robot includes the overall target workspace and at least one target work subspace corresponding to an execution end, and the workspace corresponding to the three-dimensional model includes the overall workspace and at least one work subspace corresponding to the execution end, the overall target workspace is matched with the overall workspace, and in the case that the overall workspace does not match the overall target workspace, the part of the overall target workspace that does not match the overall workspace is compared with the target work subspace corresponding to at least one execution end, and in the case that any target work subspace corresponding to an execution end is the same as the above unmatched part, it is determined that the kinematics analysis simulation index data of the execution end corresponding to the three-dimensional model does not meet the operation condition of the robot, and the rod parameters of at least one rod corresponding to the execution end need to be updated.

[0065] The target dynamic parameter is a parameter used to describe the motion reason of the joint corresponding to the rod in the robot. For example, the target dynamic parameter includes one or more of the angle, speed, angular acceleration, force and torque of each joint in the case that the execution end is configured with a preset load. The preset load is the same as the load corresponding to the dynamic parameter of the three-dimensional model.

[0066] In the case of simulation analysis including dynamic analysis, the target dynamic parameters corresponding to the same load at the end of execution are matched with the dynamic parameters, and in the case that any of the dynamic parameters and the target dynamic parameters do not match, it is determined that the dynamic analysis simulation index data corresponding to the three-dimensional model does not meet the operation conditions of the robot. It should be noted that in each of the dynamic parameters, the boundary of the parameter in the target dynamic parameters is above or within the boundary, and it is determined that the dynamic parameters and the target dynamic parameters match. For example, in the case that the torque in the target dynamic parameters is greater than the torque in the dynamic parameters, it is determined that the target dynamic parameters and the dynamic parameters do not match.

[0067] In the case that the kinematic analysis simulation index data and / or the dynamic analysis simulation index data corresponding to the three-dimensional model do not meet the operation conditions of the robot, it is considered that the link parameters of the three-dimensional model need to be updated, and the link parameters of at least one link in the three-dimensional model are updated based on a preset parameter update algorithm to update the link parameters of the three-dimensional model to obtain updated link parameters. The preset parameter update algorithm is an algorithm for updating the link parameters, and the preset parameter update algorithm is a combination of one or more of a particle swarm algorithm, an ant colony algorithm, and a deep learning algorithm.

[0068] The technical scheme of the embodiment is based on the workspace and / or dynamic parameters corresponding to the three-dimensional model, and the target workspace and / or target dynamic parameters of the robot, and determines that the link parameters of the three-dimensional model need to be updated, which can ensure the reliability of the determined robot link parameters.

[0069] S140, update the structure parameters of the robot based on the updated link parameters, and return to perform the three-dimensional modeling operation based on the updated structure parameters to obtain a new three-dimensional model, and determine simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until the simulation index data meeting the operation conditions of the robot is obtained.

[0070] Specifically, in the case of updating the link parameters of at least one link, the updated link parameters of the at least one link are replaced with the link parameters of the link in the current structure parameters to update the structure parameters of the robot. The updated structure parameters are imported into the three-dimensional modeling application to perform the three-dimensional modeling operation to obtain a new three-dimensional model corresponding to the updated structure parameters. In some embodiments, the structure parameters also include position parameters of non-link components, and optionally, the position parameters of the non-link components are updated based on the updated link parameters.

[0071] Specifically, the mounting position of the non-rod component is adjusted based on the updated rod parameter to obtain an updated position parameter of the non-rod component. For example, assuming that the non-rod component is a joint motor connected to one end of the rod, the length of the rod connected to the joint motor is reduced, the mounting position of the joint motor is closer to the other end of the rod, and the relative position parameter of the joint motor changes from "1, 0.2, 0.6, 5, 5, 5" to "1, 0.2, 0.4, 5, 5, 5".

[0072] The technical scheme of the embodiment updates the position parameter of the non-rod component based on the updated rod parameter, which facilitates updating the position parameter of the non-rod component in the current structure parameter instead of ignoring the influence of the updated rod parameter on the mounting position of the non-rod component. The updated position parameter of the non-rod component plays a role in position limitation in the simulation analysis of the three-dimensional model, ensures the reliability of the simulation analysis, and avoids the problem of deviation in the performance of the robot caused by ignoring the position parameter of the non-rod component.

[0073] The simulation index data corresponding to the new three-dimensional model is matched with the operation condition of the robot. In the case that the simulation index data corresponding to the new three-dimensional model does not meet the operation condition of the robot, the rod parameter is continuously updated to obtain an updated structure parameter, and the above processes of three-dimensional modeling, simulation analysis, matching with the operation condition of the robot, and rod parameter updating are repeated for closed-loop iteration of the rod parameter. In the case that the simulation index data corresponding to the new three-dimensional model meets the operation condition of the robot, it is determined that the closed-loop iteration of the rod parameter is ended.

[0074] For example, Figure 3 is a flowchart of the closed-loop iteration of the rod parameter provided by the first embodiment of the application, as Figure 3 shown, three-dimensional modeling is performed based on the obtained structure parameter of the robot in the first closed-loop iteration process, and three-dimensional modeling is performed based on the updated structure parameter in the n-th closed-loop iteration process.

[0075] S150, the rod parameter in the three-dimensional model corresponding to the simulation index data meeting the operation condition of the robot is determined as the target rod parameter.

[0076] Specifically, the target rod parameter is the rod parameter of the robot. In the case that the simulation index data corresponding to the three-dimensional model meets the operation condition of the robot, it is considered that the closed-loop iteration is ended, and the closed-loop iteration process is stopped, and the rod parameter in the current three-dimensional model is determined as the target rod parameter.

[0077] Exemplarily, assuming that the kinematics analysis simulation index data and the dynamics analysis simulation index data of the three-dimensional model constructed in the mth iteration both satisfy the operation condition of the robot, the link parameters in the three-dimensional model constructed in the mth iteration are determined as the target link parameters.

[0078] The technical scheme of the embodiment, by acquiring the structure parameters of the robot, performing three-dimensional modeling based on the structure parameters to obtain a three-dimensional model of the robot, wherein the structure parameters include link parameters, performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model, updating the link parameters of the three-dimensional model in the case that the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot to obtain updated link parameters, updating the structure parameters of the robot based on the updated link parameters, and returning to perform the three-dimensional modeling operation based on the updated structure parameters to obtain a new three-dimensional model, determining simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model, until simulation index data satisfying the operation condition of the robot is obtained, and determining the link parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target link parameters. Through three-dimensional modeling, simulation analysis, and updating the link parameters in the case that the simulation index data does not satisfy the operation condition of the robot, a closed-loop iteration process for determining the link parameters of the robot is constructed, which can realize automatic updating of the link parameters of the robot without manually performing the above iteration process, reduces human-computer interaction, and improves the efficiency of determining the link parameters of the robot.

[0079] Embodiment Two

[0080] Figure 4 is a flowchart of a method for determining the link parameters of a robot provided by Embodiment Two of the present application. The technical scheme of the embodiment is further optimized on the basis of any of the above embodiments, and the method for updating the link parameters is refined. As shown in Figure 4 the method comprises:

[0081] S210, acquiring the structure parameters of the robot, and performing three-dimensional modeling based on the structure parameters to obtain a three-dimensional model of the robot, wherein the structure parameters include link parameters.

[0082] S220, performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model.

[0083] S230, in the case that the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, performing multiple iteration updates on the rod parameters of the three-dimensional model based on a particle swarm algorithm to obtain updated rod parameters updated by iteration: initializing the particle swarm algorithm based on the simulation index data corresponding to the three-dimensional model and the operation condition of the robot; generating a particle swarm fitness corresponding to each particle iteration based on a particle value corresponding to each particle iteration in the iteration update process; in the case that a particle swarm iteration end condition is satisfied, comparing the particle swarm fitnesses corresponding to multiple particle iterations respectively, and determining a particle value corresponding to the minimum particle swarm fitness as the updated rod parameter.

[0084] Specifically, in each closed-loop iteration, the number of rods of the three-dimensional model or the robot is taken as the particle swarm dimension of the particle swarm algorithm. Based on the difference degree of the simulation index data corresponding to the three-dimensional model and the operation condition of the robot, the difficulty of rod parameter updating is determined, other particle swarm parameters are determined based on the difficulty of rod parameter updating, and the particle swarm algorithm is configured by the particle swarm dimension and the other particle swarm parameters to realize the initialization of the particle swarm algorithm in each closed-loop iteration.

[0085] It should be noted that the particle swarm parameters in the particle swarm algorithm include but are not limited to the particle swarm dimension, the number of particles, the individual acceleration constant, the social acceleration constant, the inertia weight and the total number of particle swarm iterations. Generally, the number of particles is valued between 20 and 1000, and the greater the number of particles, the stronger the convergence of the particle swarm algorithm. Generally, the individual acceleration constant and the social acceleration constant are valued between 0 and 2, the greater the individual acceleration constant or the smaller the social acceleration constant, the more the particles in the particle swarm algorithm pay attention to their own experience; on the contrary, the particles in the particle swarm algorithm pay more attention to the experience of the population. Generally, the inertia weight is valued between 0.4 and 2, the greater the inertia weight, the stronger the global optimization ability of the particle swarm algorithm, but the weaker the local optimization ability; on the contrary, the global optimization ability of the particle swarm algorithm is weaker, but the local optimization ability is stronger.

[0086] In some embodiments, the simulation index data corresponding to at least part of the rods in the three-dimensional model satisfies the operation condition of the robot, and optionally, based on the simulation index data corresponding to the three-dimensional model that does not satisfy the operation condition of the robot, the number of rods to be optimized is determined, and the number of rods to be optimized is set as the particle swarm dimension of the particle swarm algorithm; based on the particle swarm dimension, the number of particles, the individual acceleration constant, the social acceleration constant and the inertia weight, the exploration space of the particle swarm algorithm is initialized, and the exploration space includes the initial particle values of multiple particles.

[0087] Specifically, under the condition that the simulation index data does not meet the operation condition of the robot, a part of the simulation index data that does not match the operation condition of the robot is determined, and a rod corresponding to the part is determined as a to-be-optimized rod, wherein the to-be-optimized rod is a rod that needs to be updated in the current closed-loop iteration. By calculating the number of to-be-optimized rods, the number of to-be-optimized rods is set as the particle swarm dimension of the particle swarm algorithm in the current closed-loop iteration.

[0088] Based on the difference between the simulation index data corresponding to the three-dimensional model and the operation condition of the robot, the difficulty of rod parameter updating is determined, the particle number, the individual acceleration constant, the social acceleration constant, the inertia weight and the total iteration number of the particle swarm are determined based on the difficulty of rod parameter updating, the particle swarm dimension, the particle number, the individual acceleration constant, the social acceleration constant, the inertia weight and the total iteration number of the particle swarm algorithm are configured, the initialization of the particle swarm algorithm is realized, and the exploration space of the particle swarm algorithm composed of the initial particle values of multiple particles is obtained. It can be understood that the higher the difference between the simulation index data corresponding to the three-dimensional model and the operation condition of the robot, the greater the difficulty of rod parameter updating, and the particle number can be increased. Exemplarily, the particle number is 150, the individual acceleration constant is 1.6, the social acceleration constant is 1.8, the inertia weight is 0.9, and the total iteration number of the particle swarm is 100.

[0089] The technical scheme of the embodiment determines the number of to-be-optimized rods based on the simulation index data corresponding to the three-dimensional model that does not meet the operation condition of the robot, and sets the number of to-be-optimized rods as the particle swarm dimension of the particle swarm algorithm, instead of setting the number of all rods in the three-dimensional model as the particle swarm dimension of the particle swarm algorithm, which can reduce the particle swarm dimension, update the rod parameters of only the to-be-optimized rods, avoid redundant calculation, and improve the rod parameter updating efficiency.

[0090] In the iteration updating process of the particle swarm algorithm in each closed-loop iteration, the particle value corresponding to each particle iteration includes the particle position and the particle velocity of multiple particles, wherein the particle position of the i th particle is represented as X i =(x i1 ,x i2 ,...,x iD ),i=1,2,...,N, and the particle velocity of the i th particle is represented as V i =(v i1 ,v i2 ,...,v iD), i = 1, 2, …, N, wherein, D represents an exploration space corresponding to a particle group dimension, and N represents a particle number. The particle group fitness corresponding to each particle iteration is calculated by substituting the particle value corresponding to each particle iteration into the conversion relationship between the particle value and the particle group fitness. Optionally, the particle value of the plurality of particles in the current particle iteration is obtained based on the particle value of the plurality of particles in the last particle iteration; the joint torque of the three-dimensional model is determined based on the particle value of the plurality of particles in the current particle iteration; and the joint torque is set as the particle group fitness corresponding to the current particle iteration.

[0091] The particle group iteration end condition is a condition for determining whether to end the iteration update process of the particle group algorithm in each closed loop iteration. Exemplarily, the particle group iteration end condition is that the number of particle iterations is greater than a preset particle group iteration number, and the preset particle group iteration number is a preset number of particle iterations, which is used to determine whether the number of particle iterations satisfies the particle group iteration end condition. For example, the preset particle group iteration number is 100.

[0092] In the case where the particle group iteration end condition is not satisfied, the particle value is updated based on the particle value obtained in the dth particle iteration to obtain the particle value in the (d+1)th particle iteration, wherein the particle velocity of the i th particle in the dth particle iteration is represented as v id = w × v id-1 + c1r1(p id -x id ) + c2r2(p gd -x id ), the particle position of the i th particle in the (d+1)th particle iteration is represented as x id+1 = x id + v id , and the particle velocity of the i th particle in the (d+1)th particle iteration is represented as v id+1 ; wherein, w represents an inertia weight; c1 represents an individual acceleration constant; c2 represents a social acceleration constant; p id is the individual current optimal solution of the i th particle in the dth particle iteration; p gd is the population current optimal solution in the dth particle iteration; and r1 and r2 are random numbers. The joint torque corresponding to each particle iteration is calculated by substituting the particle value x id+1 and v id+1 obtained in the (d+1)th particle iteration into the conversion relationship between the particle value and the joint torque, wherein the conversion relationship between the particle value and the joint torque includes the following formula:

[0093]

[0094] wherein, k represents the total kinetic energy of the rod, u represents the total potential energy of the rod, and vC is the velocity of the centroid of the link; ω is the angular velocity of the link; m is the mass of the link; I is the rotational inertia of the link, P C is the centroid vector of the link, Θ is the joint angle vector, and τ is the joint torque. The particle swarm fitness can be expressed as F = τ (l1, l2,..., ln), wherein, l n is the particle value of the nth link. n characterizes the link parameter of the nth link.

[0095] The technical solution of the embodiment can make the particle swarm fitness represent the load of the joint motor corresponding to the plurality of links in the case of driving the link to move, which helps to ensure that the robot corresponding to the updated link parameter can reach the working condition of the robot with low load.

[0096] In the case of meeting the particle swarm iteration end condition, the particle swarm fitness corresponding to a plurality of particle iterations is compared to determine the minimum particle swarm fitness, and the particle value corresponding to the minimum particle swarm fitness is set as the updated link parameter. For example, assuming that the current time of particle iteration reaches the preset particle swarm iteration number z, the particle swarm iteration is determined to be ended, the particle swarm fitness of z x N particles obtained by z particle iterations is compared to obtain the minimum particle swarm fitness, and the D-dimensional particle value corresponding to the minimum particle swarm fitness is determined as the updated link parameter of the D-dimensional link.

[0097] S240, updating the structure parameter of the robot based on the updated link parameter, and returning to perform the three-dimensional modeling operation based on the updated structure parameter to obtain a new three-dimensional model, determining simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until the simulation index data satisfying the working condition of the robot is obtained.

[0098] S250, determining the link parameter in the three-dimensional model corresponding to the simulation index data satisfying the working condition of the robot as the target link parameter.

[0099] For example, Figure 5 is a flowchart of a method for determining a robot link parameter provided by the second embodiment of the application. As Figure 5 shown, in the case that any of the working space and the dynamic parameter obtained in each closed-loop iteration does not satisfy the working condition of the robot, the performance of the three-dimensional model is analyzed based on the working space and the dynamic parameter, and the particle swarm algorithm is initialized based on the analysis result, the link parameter is updated, and the structure parameter is updated.

[0100] The technical scheme of the embodiment is characterized in that the rod parameters of the three-dimensional model are iteratively updated based on the particle swarm algorithm in the case that the simulation index data corresponding to the three-dimensional model does not meet the operation condition of the robot, and the updated rod parameters are obtained: the particle swarm algorithm is initialized based on the simulation index data corresponding to the three-dimensional model and the operation condition of the robot; the particle swarm fitness corresponding to each particle iteration is generated based on the particle value corresponding to each particle iteration in the iteration process; in the case that the particle swarm iteration end condition is met, the particle values corresponding to the minimum particle swarm fitness are determined as the updated rod parameters by comparing the particle swarm fitness corresponding to each particle iteration. The rod parameters of the three-dimensional model are updated based on the particle swarm algorithm to obtain the updated rod parameters, which can quickly optimize the rod parameters of a large number of rods, obtain the optimal solution of the rod parameters, and solve the high-dimensional optimization problem of the rod parameter updating of a large number of rods.

[0101] Embodiment three

[0102] Figure 6 is a structural schematic diagram of a robot rod parameter determination device provided by the embodiment three of the application. As shown in the figure, Figure 6 the device comprises:

[0103] The structure parameter acquisition module 310 is configured to acquire the structure parameters of the robot, perform three-dimensional modeling based on the structure parameters, and obtain the three-dimensional model of the robot; wherein the structure parameters include the rod parameters.

[0104] The simulation analysis module 320 is configured to perform simulation analysis on the three-dimensional model, and determine the simulation index data corresponding to the three-dimensional model.

[0105] The rod parameter updating module 330 is configured to update the rod parameters of the three-dimensional model in the case that the simulation index data corresponding to the three-dimensional model does not meet the operation condition of the robot, and obtain the updated rod parameters.

[0106] The structure parameter updating module 340 is configured to update the structure parameters of the robot based on the updated rod parameters, perform the three-dimensional modeling operation based on the updated structure parameters, obtain a new three-dimensional model, determine the simulation index data corresponding to the new three-dimensional model, and repeat the above operations until the simulation index data meeting the operation condition of the robot is obtained.

[0107] The target rod parameter determination module 350 is configured to determine the rod parameters in the three-dimensional model corresponding to the simulation index data meeting the operation condition of the robot as the target rod parameters.

[0108] The technical scheme of the embodiment comprises the following steps: obtaining structural parameters of the robot; performing three-dimensional modeling based on the structural parameters to obtain a three-dimensional model of the robot; wherein the structural parameters comprise rod parameters; performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model; in the case that the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, updating the rod parameters of the three-dimensional model to obtain updated rod parameters; updating the structural parameters of the robot based on the updated rod parameters, and returning to perform the three-dimensional modeling operation based on the updated structural parameters to obtain a new three-dimensional model, and determining simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until simulation index data satisfying the operation condition of the robot is obtained; determining the rod parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target rod parameters. Through three-dimensional modeling, simulation analysis, and updating the rod parameters in the case that the simulation index data does not satisfy the operation condition of the robot, a closed-loop iteration process for determining the rod parameters of the robot is constructed, which can realize automatic updating of the rod parameters of the robot without manually performing the above iteration process, reduces human-computer interaction, and improves the efficiency of determining the rod parameters of the robot.

[0109] On the basis of the above embodiment, optionally, the structural parameters further comprise position parameters of non-rod components; the position parameters of the non-rod components are determined based on the rod parameters; and the structural parameter updating module 340 is specifically configured to update the position parameters of the non-rod components based on the updated rod parameters.

[0110] On the basis of the above embodiment, optionally, the simulation analysis comprises one or more of kinematic analysis and dynamic analysis; and the simulation analysis module 320 is specifically configured to import the three-dimensional model into a simulation application corresponding to each simulation analysis; in the simulation application, one or more of the following is configured: kinematic pairs of the three-dimensional model, gravitational acceleration, material properties, and a preset end load; and based on the configured simulation application, the three-dimensional model is subjected to simulation analysis corresponding to the simulation application to obtain kinematic analysis simulation index data and / or dynamic analysis simulation index data corresponding to the three-dimensional model.

[0111] On the basis of the above embodiment, optionally, the kinematic analysis simulation index data comprises a working space corresponding to the three-dimensional model; the working space corresponding to the three-dimensional model comprises an overall working space and / or a working sub-space corresponding to at least one execution end; the dynamic analysis simulation index data comprises dynamic parameters corresponding to the three-dimensional model; the operation condition of the robot comprises target working space and / or target dynamic parameters of the robot; the target working space of the robot comprises an overall target working space and / or a target working sub-space corresponding to at least one execution end.

[0112] On the basis of the above-mentioned embodiment, optionally, the rod member parameter updating module 330 is specifically configured to: based on the particle swarm algorithm, performing multiple iterations on the rod member parameters of the three-dimensional model to obtain updated rod member parameters after iteration updating; based on the simulation index data corresponding to the three-dimensional model and the operation condition of the robot, initializing the particle swarm algorithm; based on the particle value corresponding to each particle iteration in the iteration updating process, generating the particle swarm fitness corresponding to each particle iteration; in the case of meeting the particle swarm iteration end condition, comparing the particle swarm fitness corresponding to multiple particle iterations respectively, and determining the particle value corresponding to the minimum particle swarm fitness as the updated rod member parameter.

[0113] On the basis of the above-mentioned embodiment, optionally, the rod member parameter updating module 330 is further configured to: based on the simulation index data corresponding to the three-dimensional model that does not meet the operation condition of the robot, determining the number of rod members to be optimized, and setting the number of rod members to be optimized as the particle swarm dimension of the particle swarm algorithm; based on the particle swarm dimension, the number of particles, the individual acceleration constant, the social acceleration constant and the inertia weight, initializing the exploration space of the particle swarm algorithm, and the exploration space includes the initial particle values of multiple particles.

[0114] On the basis of the above-mentioned embodiment, optionally, the rod member parameter updating module 330 is further configured to: based on the particle values of the multiple particles obtained in the last particle iteration, obtaining the particle values of the multiple particles in the current particle iteration; based on the particle values of the multiple particles in the current particle iteration, determining the joint torque of the three-dimensional model; and setting the joint torque as the particle swarm fitness corresponding to the current particle iteration.

[0115] The robot rod member parameter determination device provided in the embodiments of the present application can execute the robot rod member parameter determination method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0116] Embodiment Four

[0117] Figure 7 is a structural schematic diagram of an electronic device for implementing the robot rod member parameter determination method of the embodiments of the present application. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, 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 examples and are not intended to limit the implementations described and / or claimed in this document.

[0118] As Figure 7As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0120] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the 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 appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the method of determining robot link parameters.

[0121] In some embodiments, the method of determining robot link parameters can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method of determining robot link parameters described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of determining robot link parameters by any other appropriate means, such as by means of firmware.

[0122] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0123] Computer programs used to implement the method of determining robot link parameters of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program running on the processor implements the functions / operations specified in the flowcharts and / or the block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine, or entirely on a remote machine or server.

[0124] Embodiment five

[0125] Embodiment five of the present application also provides a computer readable storage medium, which stores computer instructions for causing a processor to execute a method of determining robot link parameters, the method comprising:

[0126] obtaining structure parameters of the robot; performing three-dimensional modeling based on the structure parameters to obtain a three-dimensional model of the robot; wherein the structure parameters include link parameters; performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model; in a case where the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, updating the link parameters of the three-dimensional model to obtain updated link parameters; updating the structure parameters of the robot based on the updated link parameters, and returning to perform the three-dimensional modeling operation based on the updated structure parameters to obtain a new three-dimensional model, and determining new simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until simulation index data satisfying the operation condition of the robot is obtained; determining the link parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target link parameters.

[0127] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0129] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0130] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0131] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0132] The above detailed description does not constitute a limitation on the scope of protection of the present application. 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 replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method of determining parameters of a robot link, characterized by, The method comprises: obtaining structural parameters of a robot; performing three-dimensional modeling based on the structural parameters to obtain a three-dimensional model of the robot; wherein the structural parameters comprise bar parameters; performing simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model; in the case where the simulation index data corresponding to the three-dimensional model does not satisfy the operation condition of the robot, updating the bar parameters of the three-dimensional model to obtain updated bar parameters; updating the structural parameters of the robot based on the updated bar parameters, and returning to perform the three-dimensional modeling operation based on the updated structural parameters to obtain a new three-dimensional model, determining simulation index data corresponding to the new three-dimensional model based on the new three-dimensional model; until simulation index data satisfying the operation condition of the robot is obtained; determining the bar parameters in the three-dimensional model corresponding to the simulation index data satisfying the operation condition of the robot as target bar parameters.

2. The method of claim 1, wherein, The structural parameters further comprise position parameters of non-bar components; the position parameters of the non-bar components are determined based on the bar parameters; The updating of the structural parameters of the robot based on the updated bar parameters comprises: updating the position parameters of the non-bar components based on the updated bar parameters.

3. The method of claim 1, wherein, The simulation analysis comprises one or more of kinematic analysis and dynamic analysis; The simulation analysis on the three-dimensional model to determine simulation index data corresponding to the three-dimensional model comprises: importing the three-dimensional model into each simulation application corresponding to the simulation analysis; in the simulation application, configuring one or more of the kinematic pairs, gravitational acceleration, material properties and preset end load of the three-dimensional model; based on the configured simulation application, performing simulation analysis corresponding to the simulation application on the three-dimensional model to obtain kinematic analysis simulation index data and / or dynamic analysis simulation index data corresponding to the three-dimensional model.

4. The method of claim 3, wherein, The kinematic analysis simulation index data comprises a workspace corresponding to the three-dimensional model; the workspace corresponding to the three-dimensional model comprises an overall workspace and / or a work subspace corresponding to at least one execution end; The dynamic analysis simulation index data comprises dynamic parameters corresponding to the three-dimensional model; The operation condition of the robot comprises target workspaces and / or target dynamic parameters of the robot; the target workspaces of the robot comprise an overall target workspace and / or a target work subspace corresponding to at least one execution end.

5. The method of claim 1, wherein, The updating of the bar parameters of the three-dimensional model to obtain updated bar parameters comprises: The link parameters of the 3D model are iteratively updated multiple times using the particle swarm optimization (PSO) algorithm to obtain the updated link parameters. The PSO algorithm is initialized based on the simulation index data corresponding to the 3D model and the robot's operating conditions. The PSO fitness is generated for each iteration based on the particle value corresponding to the particle value. When the PSO iteration termination condition is met, the PSO fitness values ​​corresponding to multiple iterations are compared, and the particle value corresponding to the minimum PSO fitness value is determined as the updated link parameter.

6. The method of claim 5, wherein, The initialization of the particle swarm optimization algorithm based on the simulation index data corresponding to the 3D model and the robot's operating conditions includes: Based on the simulation index data corresponding to the 3D model that does not meet the robot's operating conditions, the number of links to be optimized is determined, and the number of links to be optimized is set as the particle swarm dimension of the particle swarm algorithm; based on the particle swarm dimension, the number of particles, the individual acceleration constant, the social acceleration constant, and the inertia weight, the exploration space of the particle swarm algorithm is initialized, and the exploration space includes the initial particle values ​​of multiple particles.

7. The method of claim 5, wherein, The process of generating the particle swarm fitness corresponding to each iteration number based on the particle values ​​corresponding to each iteration number in the iterative update process includes: The particle values ​​of the particles in the current particle iteration are obtained based on the particle values ​​of the particles obtained in the previous particle iteration. The joint torque of the 3D model is determined based on the particle values ​​of multiple particles in the current sub-particle iteration; the joint torque is set as the particle swarm fitness corresponding to the current sub-particle iteration.

8. A robot link parameter determination apparatus characterized by comprising: include: The structural parameter acquisition module is used to acquire the structural parameters of the robot; Based on the structural parameters, a three-dimensional model of the robot is obtained; wherein, the structural parameters include link parameters; The simulation analysis module is used to perform simulation analysis on the three-dimensional model and determine the simulation index data corresponding to the three-dimensional model. The link parameter update module is used to update the link parameters of the three-dimensional model when the simulation index data corresponding to the three-dimensional model does not meet the operating conditions of the robot, so as to obtain the updated link parameters. The structural parameter update module is used to update the structural parameters of the robot based on the updated link parameters, and return to perform a 3D modeling operation based on the updated structural parameters to obtain a new 3D model. Based on the new 3D model, the module determines the simulation index data corresponding to the new 3D model; until simulation index data that meets the operating conditions of the robot is obtained. The target link parameter determination module is used to determine the link parameters in the three-dimensional model corresponding to the simulation index data that meets the robot's operating conditions as the target link parameters.

9. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method for determining parameters of a robot link according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the method for determining parameters of a robot link according to any one of claims 1-7 when executed.

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