Method, device and system for adjusting control parameters of a robot

Abstract

The application provides a method, device and system for adjusting control parameters of a robot, the method comprising: obtaining a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot, the edge point of the robot being an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot exists in the displacement waveform; and adjusting a position loop gain to a product of a preset multiple and a current position loop gain to reduce a probability of overshoot appearing again in the displacement waveform after a current time, in a case where it is determined that overshoot exists in the displacement waveform. The application solves the problem that the actual displacement error of the robot exceeds a tolerance error range due to a large difference between a position waveform of a robot end and a position waveform of a motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to a control method of a robot, in particular to a control parameter adjustment method, device and system of a robot. BACKGROUND

[0002] The performance of an AC servo system is closely related to its control parameters. In order to obtain satisfactory control performance, the control parameters must be set. At the same time, in order to adapt to different application occasions and changes in operating conditions of a single occasion, the servo system must have the ability to self-adjust the control parameters to optimize the performance of the servo system.

[0003] The parameter self-setting is based on the speed and current signals at the motor end, without considering the situation that the motor end and the mechanical end cannot completely correspond. Since the position waveform of the robot end and the position waveform of the motor end are quite different under the same condition, the position waveform of the motor end cannot completely reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range. SUMMARY

[0004] The main purpose of the present application is to provide a control parameter adjustment method, device and electronic equipment of a robot, so as to at least solve the problem that the position waveform of the robot end and the position waveform of the motor end are quite different under the same condition, the position waveform of the motor end cannot completely reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range.

[0005] In order to achieve the above purpose, according to one aspect of the present application, a control parameter adjustment method of a robot is provided, the control parameters of the robot include position loop gain, and the method comprises:

[0006] Obtaining a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot;

[0007]

[0007] Determining whether there is an overshoot phenomenon in the displacement waveform;

[0008] In the case where it is determined that there is an overshoot phenomenon in the displacement waveform, adjusting the position loop gain to a product of a preset multiple and the current position loop gain, so as to reduce the probability of the overshoot phenomenon appearing again in the displacement waveform after the current time, the overshoot phenomenon representing the displacement of the robot during movement exceeding a preset displacement.

[0009] Optionally, the determining whether there is an overshoot phenomenon in the displacement waveform comprises:

[0010] determining whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold, the maximum value of the jitter amount being a maximum value among absolute values of differences between all adjacent wave crests and wave troughs in the displacement waveform;

[0011] adjusting a filtering frequency of a first notch filter to a first filtering frequency, the first filtering frequency being a frequency of adjacent wave crest to wave trough in the displacement waveform corresponding to the maximum value of the jitter amount, the first notch filter being used to filter an input displacement planning signal of the robot, in a case where it is determined that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold.

[0012] increasing the position loop gain by a first preset step length, in a case where it is determined that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold.

[0013] Optionally, after adjusting the filtering frequency of the first notch filter to the first filtering frequency, the method further comprises:

[0014] reacquiring a displacement waveform of the robot collected by a displacement sensor, and re-determining whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold;

[0015] adjusting the position loop gain to a product of a preset multiple and a current position loop gain, in a case where it is determined that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold.

[0016] increasing the current position loop gain by the first preset step length, in a case where it is determined that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold.

[0017] Optionally, after adjusting the position loop gain to the product of the preset multiple and the current position loop gain, the method further comprises:

[0018] increasing a current speed feedforward gain by a second preset step length.

[0019] reacquiring a displacement waveform of the robot collected by a displacement sensor, and re-determining whether an overshoot phenomenon exists in the displacement waveform, and determining whether a positioning time of the displacement sensor is less than a positioning time threshold, the positioning time being an interval time length between a time when the robot starts to move and a time when the robot stops;

[0020] generating a prompt information to prompt that an actual displacement error of the robot is within an allowable error range, in a case where it is determined that the overshoot phenomenon does not exist in the displacement waveform, and it is determined that the positioning time of the displacement sensor is less than the positioning time threshold.

[0021] In a case where it is determined that there is an overshoot phenomenon in the displacement waveform, and / or, it is determined that the positioning time of the displacement sensor is greater than or equal to the positioning time threshold, it is determined whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain, the alarm information being used to prompt that the robot needs to be maintained.

[0022] Optionally, determining whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain comprises:

[0023] In a case where the current speed feedforward gain is not equal to 100%, the current speed feedforward gain is increased by the second preset step;

[0024] In a case where the current speed feedforward gain is equal to 100%, it is determined whether the current position loop gain is less than the minimum threshold of the position loop gain;

[0025] In a case where it is determined that the current position loop gain is less than the minimum threshold of the position loop gain, it is determined to generate the alarm information;

[0026] In a case where it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain, it is determined not to generate the alarm information, the current position loop gain is decreased by a third preset step, and the current speed feedforward gain is adjusted to 0.

[0027] Optionally, before the displacement waveform of the robot collected by the displacement sensor is acquired, the method further comprises:

[0028] a product of a speed loop gain coefficient adjustment preset multiple and a current speed loop gain coefficient;

[0029] The current position loop gain is increased by a first preset step.

[0030] Optionally, before the product of the speed loop gain coefficient adjustment preset multiple and the current speed loop gain coefficient is acquired, the method further comprises:

[0031] The current speed loop gain coefficient is increased by a fourth preset step.

[0032] It is determined whether a maximum value of fluctuation amount of the current speed curve of the robot is greater than or equal to a fluctuation amount threshold, the maximum value of the fluctuation amount being a maximum value among absolute values of differences between all adjacent wave crests and wave troughs in the current speed curve;

[0033] in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is greater than or equal to the fluctuation amount threshold, adjusting a filtering frequency of a second notch filter to a second filtering frequency, the second filtering frequency being a frequency of adjacent peaks to valleys in the current speed curve corresponding to the maximum value of the fluctuation amount, the second notch filter being used to filter a signal output by a speed regulator;

[0034] in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is less than the fluctuation amount threshold, increasing the current speed loop gain coefficient again by a fourth preset step size.

[0035] Optionally,

[0036] after adjusting the filtering frequency of the second notch filter to the second filtering frequency, the method further comprises: determining again whether the maximum value of the fluctuation amount of the current speed curve of the robot is greater than or equal to the fluctuation amount threshold; in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve of the robot is less than the fluctuation amount threshold, increasing the current speed loop gain coefficient again by a fourth preset step size.

[0037] increasing the current position loop gain by a first preset step size comprises: in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve of the robot is greater than or equal to the fluctuation amount threshold, increasing the current position loop gain by the first preset step size.

[0038] According to another aspect of the present application, there is provided a device for adjusting control parameters of a robot, the control parameters of the robot including a position loop gain, the device comprising:

[0039] a first acquisition unit configured to acquire a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot;

[0040] a first determination unit configured to determine at least whether there is an overshoot phenomenon in the displacement waveform;

[0041] a first processing unit configured to, in a case where it is determined that there is an overshoot phenomenon in the displacement waveform, adjust the position loop gain to a product of a preset multiple and the current position loop gain, so as to reduce a probability of the overshoot phenomenon occurring again in the displacement waveform after the current time, the overshoot phenomenon indicating that the displacement of the robot during movement exceeds a preset displacement.

[0042] According to another aspect of the present application, there is provided a system for adjusting control parameters of a robot, the system comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods for adjusting control parameters of a robot.

[0043] By applying the technical solution of the present application, compared with the traditional parameter self-tuning mode, the displacement sensor signal is taken as the basis for parameter tuning, and the displacement waveform of the edge point of the robot is taken as the final target for parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the actual displacement error of the robot exceeds the allowable error range due to the large difference between the position waveform of the robot end and the position waveform of the motor end under the same conditions, and the position waveform of the motor end cannot fully reflect the actual operation of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments thereof, and are used to explain the present application, and do not constitute improper limitations to the present application. In the drawings:

[0045] Figure 1 A flowchart of a method for adjusting control parameters of a robot according to an embodiment of the present application is shown;

[0046] Figure 2 A schematic diagram of a control loop of a robot according to an embodiment of the present application is shown;

[0047] Figure 3 A flowchart of a method for adjusting control parameters of a robot according to an embodiment of the present application is shown;

[0048] Figure 4 A block diagram of an adjusting device for control parameters of a robot according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] It should be noted that the embodiments and features in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0051] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to describe 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 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 the process, method, product or device.

[0052] As introduced in the background, the performance of the AC servo system is closely related to its control parameters. In order to obtain satisfactory control performance, the control parameters must be set. At the same time, in order to adapt to different application occasions and changes in operating conditions of a single occasion, the servo system must have the ability of self-adjusting control parameters, so that the performance of the servo system is optimal. The parameter self-adjusting is based on the motor end speed and current signals, without considering the fact that the motor end and the mechanical end cannot completely correspond. Since the position waveform of the robot end and the position waveform of the motor end are quite different under the same condition, the position waveform of the motor end cannot completely reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range. In order to solve the problem that the position waveform of the robot end and the position waveform of the motor end are quite different under the same condition, the position waveform of the motor end cannot completely reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range, the embodiments of the present application provide a robot control parameter adjustment method, device and system.

[0053] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application.

[0054] This embodiment provides a method for adjusting the control parameters of a robot. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0055] The robot's control parameters include position loop gain, velocity loop gain coefficient, and velocity feedforward gain. Figure 1 This is a flowchart illustrating a method for adjusting the control parameters of a robot according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0056] Step S101: Obtain the displacement waveform of the robot collected by the displacement sensor. The displacement sensor is installed on the edge point of the robot, and the edge point of the robot is an intersection of the robot's movement direction and the robot's shell.

[0057] For example, if the robot moves north, then the edge point of the robot is the intersection of the due north direction and the outer shell of the robot. This intersection point is the point on the outer shell of the robot that is closest to due north.

[0058] Before step S101, that is, before acquiring the displacement waveform of the robot collected by the displacement sensor, the above method further includes:

[0059] Adjust the product of the speed loop gain coefficient by a preset factor and the current speed loop gain coefficient. The preset factor ranges from 0.5 to 1.

[0060] In one embodiment of this application, before multiplying the velocity loop gain coefficient by a preset factor and the current velocity loop gain coefficient, the method further includes:

[0061] The current velocity loop gain coefficient is increased by using the fourth preset step size;

[0062] Specifically, the closed-loop control of the robot is as follows: Figure 2 As shown, the fourth preset step size is a preset value. By increasing the current velocity loop gain coefficient, the second notch filter (i.e., ...) is adjusted according to the subsequent robot velocity curve. Figure 2 The filtering frequency of the notch filter 2) in the robot is adjusted to make the control of the robot more precise and reduce the speed fluctuation of the robot.

[0063] Determine whether the maximum value of the fluctuation amount of the robot in the current speed curve is greater than or equal to the fluctuation amount threshold. The maximum value of the fluctuation amount is the maximum value of the absolute value of the difference between all adjacent peaks and troughs in the current speed curve.

[0064] The fluctuation threshold is a set value, and in a case where it is determined that the maximum value of the fluctuation of the current speed curve is greater than or equal to the fluctuation threshold, it is determined that the filtering frequency of the second notch filter needs to be adjusted;

[0065] In a case where it is determined that the maximum value of the fluctuation of the current speed curve is greater than or equal to the fluctuation threshold, the filtering frequency of the second notch filter is adjusted to a second filtering frequency, the second filtering frequency being a frequency of adjacent peaks to troughs in the current speed curve corresponding to the maximum value of the fluctuation, and the second notch filter being used to filter a signal output by the speed regulator;

[0066] In a case where it is determined that the maximum value of the fluctuation of the current speed curve is less than the fluctuation threshold, the current speed loop gain coefficient is again increased by a fourth preset step size.

[0067] Specifically, in a case where it is determined that the maximum value of the fluctuation of the current speed curve is less than the fluctuation threshold, it is determined that the filtering frequency of the second notch filter does not need to be adjusted, and the current speed loop gain coefficient is again increased by a fourth preset step size, the speed loop gain coefficient being a gain of the speed regulator in Figure 2 .

[0068] The current position loop gain is increased by a first preset step size.

[0069] Specifically, the first preset step size is a preset numerical value, and the position loop gain is increased to facilitate subsequent acquisition of different displacement waveforms of the robot collected by the displacement sensor, so as to determine whether an actual displacement error of the robot exceeds a tolerance error range according to the different displacement waveforms.

[0070] In step S102, it is determined at least whether there is an overshoot phenomenon in the displacement waveform;

[0071] It can also be determined whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold, and whether a positioning time of the displacement sensor is greater than or equal to a positioning time threshold.

[0072] In step S102, it is determined at least whether there is an overshoot phenomenon in the displacement waveform, including:

[0073] In a case where it is determined that there is no overshoot phenomenon in the displacement waveform, it is determined whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold, the maximum value of the jitter amount being a maximum value of absolute values of differences between all adjacent peaks and troughs in the displacement waveform;

[0074] In a case where the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold value, a filtering frequency of the first notch filter is adjusted to a first filtering frequency, the first filtering frequency being a frequency of adjacent peaks to troughs in the displacement waveform corresponding to the maximum value of the jitter, the first notch filter being configured to filter an input displacement planning signal of the robot.

[0075] The displacement planning signal includes how the robot moves, for example, moving B meters in the A direction and moving C meters per second.

[0076] Specifically, the filtering frequency of the first notch filter (i.e., the notch filter 1 in Figure 2 The filtering frequency of the first notch filter is adjusted to the first filtering frequency, so that the jitter of the subsequent displacement waveform is less than the jitter threshold value, and the control of the robot is more accurate.

[0077] In addition, after adjusting the filtering frequency of the first notch filter to the first filtering frequency, the method further includes:

[0078] The displacement waveform of the robot collected by the displacement sensor is acquired again, and it is determined again whether the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold value;

[0079] In a case where the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold value, the position loop gain is adjusted to a product of a preset multiple and a current position loop gain.

[0080] In a case where the maximum value of the jitter of the displacement waveform is less than the jitter threshold value, the first preset step length is used to increase the current position loop gain.

[0081] Specifically, in a case where the maximum value of the jitter of the displacement waveform is less than the jitter threshold value, the first preset step length is used to increase the position loop gain, so as to facilitate subsequent adjustment of the jitter. In a case where the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold value, the position loop gain needs to be adjusted to a product of a preset multiple and a current position loop gain, and a minimum threshold value of the position loop gain needs to be adjusted to a product of the current position loop gain and 0.5, so as to further make the error of the actual displacement of the robot within the allowable error range.

[0082] In a case where the displacement waveform has the overshoot phenomenon, the position loop gain is adjusted to a product of a preset multiple and a current position loop gain, so as to reduce the probability of the overshoot phenomenon occurring again in the displacement waveform after the current time, the overshoot phenomenon indicating that the displacement of the robot during movement exceeds a preset displacement.

[0083] In the above steps, compared with the traditional parameter self-tuning mode, the displacement sensor signal is taken as the basis of parameter tuning, and the displacement waveform of the edge point of the robot is taken as the final target of parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the actual displacement error of the robot exceeds the allowable error range due to the large difference between the position waveform of the robot end and the position waveform of the motor end under the same conditions, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

[0084] The position loop gain is Figure 2 The gain of the position regulator in the position loop.

[0085] In an embodiment of the present application, after the position loop gain is adjusted to the product of the preset multiple and the current position loop gain, the above method further comprises:

[0086] The current speed feedforward gain (the speed feedforward gain is the gain of the speed feedforward in the speed loop) is increased by a second preset step size; Figure 2

[0087] The displacement waveform of the robot collected by the displacement sensor is obtained again, and it is determined again whether there is an overshoot phenomenon in the above displacement waveform, and whether the positioning time of the above displacement sensor is less than the positioning time threshold, the positioning time being the interval time length between the time when the above robot starts to move and the time when the above robot stops;

[0088] In the case where it is determined that there is no overshoot phenomenon in the above displacement waveform, and it is determined that the positioning time of the above displacement sensor is less than the positioning time threshold, a prompt information is generated to prompt that the actual displacement error of the robot is within the allowable error range;

[0089] In the case where it is determined that there is an overshoot phenomenon in the above displacement waveform, and / or, it is determined that the positioning time of the above displacement sensor is greater than or equal to the positioning time threshold, it is determined whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain, the alarm information being used to prompt that the robot needs to be repaired.

[0090] Specifically, it is determined whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain, comprising:

[0091] In the case where the current speed feedforward gain is not equal to 100%, the current speed feedforward gain is increased by the second preset step size;

[0092] In the case where the current speed feedforward gain is equal to 100%, it is determined whether the current position loop gain is less than the minimum threshold of the position loop gain; ​

[0093] If it is determined that the current position loop gain is less than the minimum threshold of the position loop gain, the alarm information is generated.

[0094] Specifically, if the current position loop gain is less than the minimum threshold of the position loop gain, the robot is deemed to require maintenance, and therefore an alarm message needs to be generated.

[0095] If it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain, it is determined that the alarm information will not be generated, and the current position loop gain is reduced by a third preset step size, and the current velocity feedforward gain is adjusted to 0.

[0096] Specifically, if it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain, it is determined that the alarm information will not be generated, and the current position loop gain is reduced by a third preset step size, and the current speed feedforward gain is adjusted to 0. Then, the current speed feedforward gain is increased by a second preset step size to form a closed-loop regulation.

[0097] In one embodiment of this application,

[0098] After adjusting the filtering frequency of the second notch filter to the second filtering frequency, the above method further includes: determining again whether the maximum value of the fluctuation amount of the robot in the current speed curve is greater than or equal to the fluctuation amount threshold; if it is determined that the maximum value of the fluctuation amount of the robot in the current speed curve is less than the fluctuation amount threshold, the fourth preset step size is used again to increase the current speed loop gain coefficient.

[0099] Improving the current position loop gain by using a first preset step size includes: when it is determined that the maximum value of the fluctuation amount of the robot in the current velocity curve is greater than or equal to the fluctuation amount threshold, improving the current position loop gain by using the first preset step size.

[0100] Specifically, by adjusting the position loop gain and velocity loop gain coefficient based on the velocity curve, the control of the robot can be made more precise.

[0101] In addition, adopt To characterize the velocity loop gain K V Speed ​​loop integral time constant Ti, disturbance torque observer gain K s The relationship between (i.e., the gain of the disturbance torque observer) and the speed loop gain coefficient k, where a, b, and c are constants.

[0102] In order for those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the robot control parameter adjustment method of the present application will be described in detail below in conjunction with specific embodiments.

[0103] The present embodiment relates to a specific robot control parameter adjustment method, as shown in the accompanying drawings, comprising the following steps: Figure 3

[0104] Step S1: After the robot control parameter is initialized, the current speed loop gain coefficient is increased by a fourth preset step size;

[0105] Step S2: Determine whether the maximum value of the fluctuation of the current speed curve of the robot is greater than or equal to the fluctuation threshold value, the maximum value of the fluctuation being the maximum value of the absolute values of the differences between all adjacent peaks and troughs in the current speed curve;

[0106] In the case where the maximum value of the fluctuation of the current speed curve is greater than or equal to the fluctuation threshold value, the filter frequency of the second notch filter is adjusted to a second filter frequency, the second filter frequency being the frequency of the adjacent peak to trough in the current speed curve corresponding to the maximum value of the fluctuation, the second notch filter being used to filter the signal output by the speed regulator;

[0107] In the case where the maximum value of the fluctuation of the current speed curve is less than the fluctuation threshold value, the current speed loop gain coefficient is again increased by a fourth preset step size;

[0108] Step S3: After the filter frequency of the second notch filter is adjusted to the second filter frequency, it is again determined whether the maximum value of the fluctuation of the current speed curve of the robot is greater than or equal to the fluctuation threshold value; in the case where the maximum value of the fluctuation of the current speed curve of the robot is less than the fluctuation threshold value, the current speed loop gain coefficient is again increased by a fourth preset step size;

[0109] In the case where the maximum value of the fluctuation of the current speed curve of the robot is greater than or equal to the fluctuation threshold value, the first preset step size is used to increase the current position loop gain Kp, and the product of the preset multiple (i.e. 0.8) and the current speed loop gain coefficient k is used to adjust the speed loop gain coefficient;

[0110] Step S4: Obtain the displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot, the edge point of the robot being an intersection between the movement direction of the robot and the shell of the robot;

[0111] ​Step S5: in the case that the overshoot phenomenon exists in the displacement waveform, the position loop gain is adjusted to a product of a preset multiple and the current position loop gain, so as to reduce the probability of the overshoot phenomenon appearing again in the displacement waveform after the current time, the overshoot phenomenon represents that the displacement of the robot during movement exceeds a preset displacement;

[0112] In the case that the overshoot phenomenon does not exist in the displacement waveform, it is determined whether the maximum value of the jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold, the maximum value of the jitter amount is the maximum value of the absolute values of the differences between all adjacent wave peaks and wave troughs in the displacement waveform;

[0113] In the case that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold, the filtering frequency of the first notch filter is adjusted to a first filtering frequency, the first filtering frequency is the frequency of the adjacent wave peak to wave trough in the displacement waveform corresponding to the maximum value of the jitter amount, the first notch filter is used to filter the input displacement planning signal of the robot;

[0114] In the case that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold, the position loop gain is increased by using a first preset step length;

[0115] Step S6: after the filtering frequency of the first notch filter is adjusted to the first filtering frequency, the displacement waveform of the robot collected by the displacement sensor is acquired again, and it is determined again whether the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold;

[0116] In the case that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold, the position loop gain is adjusted to a product of a preset multiple (i.e. 0.8) and the current position loop gain, and the minimum threshold K pmin of the position loop gain is adjusted to a product of the current position loop gain and 0.5;

[0117] In the case that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold, the current position loop gain is increased by using the first preset step length;

[0118] Step S7: after the position loop gain is adjusted to a product of a preset multiple and the current position loop gain, the current speed feedforward gain is increased by using a second preset step length;

[0119] acquire the displacement waveform of the robot collected by the displacement sensor again, and determine whether there is an overshoot phenomenon in the displacement waveform again, and determine whether the positioning time of the displacement sensor is less than the positioning time threshold, the positioning time being the interval time between the time when the robot starts to move and the time when the robot stops;

[0120] In a case where it is determined that there is no overshoot phenomenon in the displacement waveform, and it is determined that the positioning time of the displacement sensor is less than the positioning time threshold, a prompt information is generated to prompt that the error of the actual displacement of the robot is within the allowable error range;

[0121] In a case where it is determined that there is an overshoot phenomenon in the displacement waveform, and / or, it is determined that the positioning time of the displacement sensor is greater than or equal to the positioning time threshold, it is determined whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain K pm , the alarm information being used to prompt that the robot needs to be maintained;

[0122] Step S8: in a case where the current speed feedforward gain is not equal to 100%, the current speed feedforward gain is increased by using the second preset step size;

[0123] In a case where the current speed feedforward gain is equal to 100%, it is determined whether the current position loop gain is less than the minimum threshold of the position loop gain;

[0124] In a case where it is determined that the current position loop gain is less than the minimum threshold of the position loop gain, it is determined to generate the alarm information;

[0125] In a case where it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain, it is determined not to generate the alarm information, and the current position loop gain is decreased by using a third preset step size, and the current speed feedforward gain is adjusted to 0.

[0126] The embodiment of the present application further provides a robot control parameter adjustment device. It should be noted that the robot control parameter adjustment device of the embodiment of the present application can be used to execute the robot control parameter adjustment method provided by the embodiment of the present application. The device is used to realize the above-mentioned embodiments and preferred embodiments, and details are not repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0127] The robot control parameter adjustment device provided by the embodiment of the present application is described below.

[0128] The control parameters of the robot include position loop gain, Figure 4 is a structural block diagram of an adjusting device for control parameters of a robot according to an embodiment of the present application. As shown in the figure, the device comprises: Figure 4

[0129] The first acquisition unit 41 is configured to acquire a displacement waveform of the robot collected by a displacement sensor, wherein the displacement sensor is installed on an edge point of the robot, and the edge point of the robot is an intersection between a movement direction of the robot and a shell of the robot.

[0130] The first determination unit 42 is configured to determine whether there is an overshoot phenomenon in the displacement waveform.

[0131] The first processing unit 43 is configured to, in the case where it is determined that there is an overshoot phenomenon in the displacement waveform, adjust the position loop gain to a product of a preset multiple and the current position loop gain, so as to reduce the probability of the overshoot phenomenon occurring again in the displacement waveform after the current time, wherein the overshoot phenomenon represents a case where the displacement of the robot during movement exceeds a preset displacement.

[0132] In the device, compared with the traditional parameter self-tuning mode, the displacement sensor signal is taken as the basis for parameter tuning, and the displacement waveform of the edge point of the robot is taken as the final target for parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the actual displacement error of the robot exceeds the allowable error range due to the large difference between the position waveform of the robot end and the position waveform of the motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

[0133] In an embodiment of the present application, the first determination unit comprises a first processing module, a second processing module and a third processing module.

[0134] The first processing module is configured to, in the case where it is determined that there is no overshoot phenomenon in the displacement waveform, determine whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold value, wherein the maximum value of the jitter amount is the maximum value among the absolute values of the differences between all adjacent wave peaks and wave troughs in the displacement waveform.

[0135] The second processing module is configured to, in the case where it is determined that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold value, adjust a filtering frequency of a first notch filter to a first filtering frequency, wherein the first filtering frequency is the frequency of the adjacent wave peak to wave trough in the displacement waveform corresponding to the maximum value of the jitter amount, and the first notch filter is configured to filter the input displacement planning signal of the robot.

[0136] ​The third processing module is configured to increase the position loop gain by the first preset step length when it is determined that the maximum value of the jitter of the displacement waveform is less than the jitter threshold.

[0137] In an embodiment of the present application, the apparatus further comprises a second acquisition unit, a second processing unit and a third processing unit, after the filtering frequency of the first notch filter is adjusted to the first filtering frequency,

[0138] The second acquisition unit is configured to acquire again the displacement waveform of the robot collected by the displacement sensor, and determine again whether the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold;

[0139] The second processing unit is configured to adjust the position loop gain to a product of a preset multiple and the current position loop gain when it is determined that the maximum value of the jitter of the displacement waveform is greater than or equal to the jitter threshold.

[0140] The third processing unit is configured to increase the current position loop gain by the first preset step length when it is determined that the maximum value of the jitter of the displacement waveform is less than the jitter threshold.

[0141] In an embodiment of the present application, the apparatus further comprises a fourth processing unit, a third acquisition unit, a fifth processing unit and a second determination unit, after the position loop gain is adjusted to a product of a preset multiple and the current position loop gain,

[0142] The fourth processing unit is configured to increase the current speed feedforward gain by a second preset step length.

[0143] The third acquisition unit is configured to acquire again the displacement waveform of the robot collected by the displacement sensor, and determine again whether there is an overshoot phenomenon in the displacement waveform, and determine whether the positioning time of the displacement sensor is less than a positioning time threshold, the positioning time being an interval time length between a time when the robot starts to move and a time when the robot stops.

[0144] The fifth processing unit is configured to generate a prompt information to prompt that an error of the actual displacement of the robot is within an allowable error range when it is determined that there is no overshoot phenomenon in the displacement waveform and the positioning time of the displacement sensor is less than the positioning time threshold.

[0145] The second determination unit is configured to determine whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain when it is determined that there is an overshoot phenomenon in the displacement waveform and / or the positioning time of the displacement sensor is greater than or equal to the positioning time threshold, the alarm information being used to prompt that the robot needs to be repaired.

[0146] In an embodiment of the present application, the second determining unit comprises a fourth processing module, a fifth processing module, a first determining module and a second determining module.

[0147] The fourth processing module is configured to increase the current speed feedforward gain by the second preset step size if the current speed feedforward gain is not equal to 100%.

[0148] The fifth processing module is configured to determine whether the current position loop gain is less than a minimum threshold of the position loop gain if the current speed feedforward gain is equal to 100%.

[0149] The first determining module is configured to determine to generate the alarm information if it is determined that the current position loop gain is less than the minimum threshold of the position loop gain.

[0150] The second determining module is configured to determine not to generate the alarm information and decrease the current position loop gain by a third preset step size and adjust the current speed feedforward gain to 0 if it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain.

[0151] In an embodiment of the present application, the device further comprises a sixth processing unit and a seventh processing unit, before the displacement waveform of the robot collected by the displacement sensor is acquired,

[0152] The sixth processing unit is configured to multiply the product of the speed loop gain coefficient adjustment preset multiple and the current speed loop gain coefficient.

[0153] The seventh processing unit is configured to increase the current position loop gain by a first preset step size.

[0154] In an embodiment of the present application, the device further comprises an eighth processing unit, a third determining unit, a ninth processing unit and a tenth processing unit, before the product of the speed loop gain coefficient adjustment preset multiple and the current speed loop gain coefficient is acquired, the method further comprises:

[0155] The eighth processing unit is configured to increase the current speed loop gain coefficient by a fourth preset step size.

[0156] The third determining unit is configured to determine whether a maximum value of fluctuation of the current speed curve of the robot is greater than or equal to a fluctuation threshold, the maximum value of the fluctuation being a maximum value of absolute values of differences between all adjacent wave crests and wave troughs in the current speed curve.

[0157] The ninth processing unit is configured to adjust the filtering frequency of the second notch filter to a second filtering frequency corresponding to the frequency of adjacent peaks and valleys in the current speed curve corresponding to the maximum value of the fluctuation amount, in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is greater than or equal to the fluctuation amount threshold, the second notch filter being configured to filter the signal output by the speed regulator.

[0158] The tenth processing unit is configured to increase the current speed loop gain coefficient again by the fourth preset step length, in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is less than the fluctuation amount threshold.

[0159] In an embodiment of the present application, the device further comprises a fourth determining unit and an eleventh processing unit.

[0160] After adjusting the filtering frequency of the second notch filter to the second filtering frequency, the fourth determining unit is configured to determine again whether the maximum value of the fluctuation amount of the current speed curve of the robot is greater than or equal to the fluctuation amount threshold, and the eleventh processing unit is configured to increase the current speed loop gain coefficient again by the fourth preset step length, in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve of the robot is less than the fluctuation amount threshold.

[0161] The seventh processing unit comprises a sixth processing module configured to increase the current position loop gain by the first preset step length, in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve of the robot is greater than or equal to the fluctuation amount threshold.

[0162] The device for adjusting the control parameters of the robot comprises a processor and a memory, and the first obtaining unit, the first determining unit, the first processing unit, etc. are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The modules are located in the same processor; or, the modules are located in different processors in any combination.

[0163] The processor comprises a core, and the core retrieves the corresponding program units from the memory. One or more cores can be provided, and the problem that the actual displacement error of the robot exceeds the allowable error range due to the large difference between the position waveform of the robot end and the position waveform of the motor end under the same condition and the position waveform of the motor end cannot fully reflect the actual operation of the robot can be solved by adjusting the core parameters.

[0164] The memory can include non-persistent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory, including at least one memory chip.

[0165] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium comprises a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the adjustment method of the control parameter of the robot when the program runs.

[0166] The embodiment of the present application provides a processor, the processor is used for running a program, wherein the program executes the adjustment method of the control parameter of the robot when the program runs.

[0167] The embodiment of the present application provides a device, the device comprises a processor, a memory and a program stored in the memory and capable of running on the processor, and the processor executes the program to realize at least the following steps: acquiring a displacement waveform of a robot collected by a displacement sensor, the displacement sensor is installed on an edge point of the robot, the edge point of the robot is an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot phenomenon exists in the displacement waveform; in the case that it is determined that the overshoot phenomenon exists in the displacement waveform, adjusting a position loop gain to a product of a preset multiple and a current position loop gain, so as to reduce the probability that the overshoot phenomenon appears again in the displacement waveform after the current time, and the overshoot phenomenon represents that the displacement of the robot during movement exceeds a preset displacement. The device in the present application can be a server, a PC, a PAD, a mobile phone and the like.

[0168] The present application further provides a computer program product, when executed on a data processing device, is suitable for executing the program initialized with at least the following method steps: acquiring a displacement waveform of a robot collected by a displacement sensor, the displacement sensor is installed on an edge point of the robot, the edge point of the robot is an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot phenomenon exists in the displacement waveform; in the case that it is determined that the overshoot phenomenon exists in the displacement waveform, adjusting a position loop gain to a product of a preset multiple and a current position loop gain, so as to reduce the probability that the overshoot phenomenon appears again in the displacement waveform after the current time, and the overshoot phenomenon represents that the displacement of the robot during movement exceeds a preset displacement.

[0169] The application also provides a robot control parameter adjustment system, which comprises one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for executing any one of the robot control parameter adjustment methods. Compared with a conventional parameter self-tuning mode, the displacement sensor signal is taken as the basis for parameter tuning, and the displacement waveform of the edge point of the robot is taken as the final target for parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the actual displacement error of the robot exceeds the allowable error range due to the large difference between the position waveform of the robot end and the position waveform of the motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

[0170] Obviously, those skilled in the art should understand that the modules or steps of the application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Therefore, the application is not limited to any specific combination of hardware and software.

[0171] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0172] The application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a machine that implements the functions described in the flowcharts and / or block diagrams. Figure 1 one flow or multiple flows and / or blocksFigure 1 means for performing the function specified by the block or blocks.

[0173] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by the block or blocks.

[0174] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by the block or blocks.

[0175] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0176] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory. The memory can also include non-volatile memory, such as read only memory (ROM), EPROM, and / or flash memory. The memory can be volatile, non-volatile, or a combination of volatile and non-volatile memory. The memory can also be another form of computer-readable media.

[0177] Computer-readable media includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carriers.

[0178] It should also be noted that the terms "comprising," "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the presence of additional identical elements in the process, method, article or apparatus that comprises the element.

[0179] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0180] 1) The robot control parameter adjustment method of the present application, compared with the traditional parameter self-tuning method, uses displacement sensor signals as the basis for parameter tuning, and uses the displacement waveform of the edge point of the robot as the final target for parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the position waveform of the robot end and the position waveform of the motor end differ greatly under the same conditions, and the position waveform of the motor end cannot fully reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range.

[0181] 2) The robot control parameter adjustment device of the present application, compared with the traditional parameter self-tuning method, uses displacement sensor signals as the basis for parameter tuning, and uses the displacement waveform of the edge point of the robot as the final target for parameter self-tuning. The tuning result is more in line with the actual use requirements of the servo system, thereby solving the problem that the position waveform of the robot end and the position waveform of the motor end differ greatly under the same conditions, and the position waveform of the motor end cannot fully reflect the actual operation of the robot, thereby causing the actual displacement error of the robot to exceed the allowable error range.

[0182] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of adjusting a control parameter of a robot, characterized by, The control parameters of the robot include position loop gain, comprising: acquiring a displacement waveform of the robot collected by a displacement sensor installed on an edge point of the robot; determining whether there is an overshoot phenomenon in the displacement waveform; in the case where it is determined that there is an overshoot phenomenon in the displacement waveform, adjusting the position loop gain to a product of a preset multiple and the current position loop gain, so as to reduce the probability of the overshoot phenomenon appearing again in the displacement waveform after the current time, the overshoot phenomenon representing that the displacement of the robot during movement exceeds a preset displacement; determining whether there is an overshoot phenomenon in the displacement waveform, comprising: in the case where it is determined that there is no overshoot phenomenon in the displacement waveform, determining whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold value, the maximum value of the jitter amount being a maximum value of absolute values of differences between all adjacent wave peaks and wave troughs in the displacement waveform; in the case where it is determined that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold value, adjusting a filtering frequency of a first notch filter to a first filtering frequency, the first filtering frequency being a frequency of adjacent wave peaks to wave troughs in the displacement waveform corresponding to the maximum value of the jitter amount, the first notch filter being used for filtering an input displacement planning signal of the robot; in the case where it is determined that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold value, increasing the position loop gain by a first preset step.

2. The method of claim 1, wherein, after the filtering frequency of the first notch filter is adjusted to the first filtering frequency, the method further comprises: again acquiring a displacement waveform of the robot collected by the displacement sensor, and again determining whether a maximum value of a jitter amount of the displacement waveform is greater than or equal to a jitter amount threshold value; in the case where it is determined that the maximum value of the jitter amount of the displacement waveform is greater than or equal to the jitter amount threshold value, adjusting the position loop gain to a product of a preset multiple and the current position loop gain; in the case where it is determined that the maximum value of the jitter amount of the displacement waveform is less than the jitter amount threshold value, increasing the current position loop gain by the first preset step.

3. The method of claim 1, wherein, after the position loop gain is adjusted to the product of the preset multiple and the current position loop gain, the method further comprises: increasing the current speed feedforward gain by a second preset step; again acquiring a displacement waveform of the robot collected by the displacement sensor, and again determining whether there is an overshoot phenomenon in the displacement waveform, and determining whether a positioning time of the displacement sensor is less than a positioning time threshold value, the positioning time being an interval time length between a time when the robot starts to move and a time when the robot stops; in the case where it is determined that there is no overshoot phenomenon in the displacement waveform, and it is determined that the positioning time of the displacement sensor is less than the positioning time threshold value, generating a prompt information to prompt that an actual displacement error of the robot is within an allowable error range; In a case where it is determined that there is an overshoot phenomenon in the displacement waveform, and / or, it is determined that the positioning time of the displacement sensor is greater than or equal to the positioning time threshold, it is determined whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain, the alarm information being used to prompt that the robot needs to be maintained.

4. The method of claim 3, wherein, Determining whether to generate an alarm information according to the current position loop gain and the current speed feedforward gain comprises: In a case where the current speed feedforward gain is not equal to 100%, the second preset step is used to increase the current speed feedforward gain; In a case where the current speed feedforward gain is equal to 100%, it is determined whether the current position loop gain is less than the minimum threshold of the position loop gain; In a case where it is determined that the current position loop gain is less than the minimum threshold of the position loop gain, it is determined to generate the alarm information; In a case where it is determined that the current position loop gain is greater than or equal to the minimum threshold of the position loop gain, it is determined not to generate the alarm information, a third preset step is used to decrease the current position loop gain, and the current speed feedforward gain is adjusted to 0.

5. The method of claim 1, wherein, Before the displacement waveform of the robot collected by the displacement sensor is acquired, the method further comprises: a product of a speed loop gain coefficient adjustment preset multiple and a current speed loop gain coefficient; a first preset step is used to increase the current position loop gain.

6. The method of claim 5, wherein, Before the product of the speed loop gain coefficient adjustment preset multiple and the current speed loop gain coefficient is acquired, the method further comprises: a fourth preset step is used to increase the current speed loop gain coefficient; it is determined whether a maximum value of fluctuation amount of the current speed curve of the robot is greater than or equal to a fluctuation amount threshold, the maximum value of the fluctuation amount being a maximum value among absolute values of differences between all adjacent wave crests and wave troughs in the current speed curve; in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is greater than or equal to the fluctuation amount threshold, a filter frequency of a second notch filter is adjusted to a second filter frequency, the second filter frequency being a frequency of adjacent wave crest to wave trough in the current speed curve corresponding to the maximum value of the fluctuation amount, the second notch filter being used to filter a signal output by a speed regulator; in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve is less than the fluctuation amount threshold, the fourth preset step is used again to increase the current speed loop gain coefficient.

7. The method of claim 6, wherein, after the filter frequency of the second notch filter is adjusted to the second filter frequency, the method further comprises: determining again whether the maximum value of the fluctuation amount of the current speed curve of the robot is greater than or equal to the fluctuation amount threshold; in a case where it is determined that the maximum value of the fluctuation amount of the current speed curve of the robot is less than the fluctuation amount threshold, the fourth preset step is used again to increase the current speed loop gain coefficient. The first preset step is used to increase the current position loop gain, including: in the case that the maximum value of the fluctuation amount of the robot in the current speed curve is greater than or equal to the fluctuation amount threshold, the first preset step is used to increase the current position loop gain.

8. An adjustment device of a control parameter of a robot, characterized by, The control parameters of the robot include a position loop gain, including: A first acquisition unit is configured to acquire a displacement waveform of the robot collected by a displacement sensor installed on an edge point of the robot. A first determination unit is configured to determine whether an overshoot phenomenon exists in the displacement waveform. A first processing unit is configured to, in the case that the overshoot phenomenon exists in the displacement waveform, adjust the position loop gain to a product of a preset multiple and the current position loop gain, so as to reduce the probability of the overshoot phenomenon appearing again in the displacement waveform after the current time, the overshoot phenomenon indicating that the displacement of the robot during movement exceeds a preset displacement. The first determination unit includes a first processing module, a second processing module, and a third processing module. The first processing module is configured to, in the case that the overshoot phenomenon does not exist in the displacement waveform, determine whether a maximum value of a fluctuation amount of the displacement waveform is greater than or equal to a fluctuation amount threshold, the maximum value of the fluctuation amount being a maximum value of absolute values of differences between all adjacent peaks and troughs in the displacement waveform. The second processing module is configured to, in the case that the maximum value of the fluctuation amount of the displacement waveform is greater than or equal to the fluctuation amount threshold, adjust a filter frequency of a first notch filter to a first filter frequency, the first filter frequency being a frequency of adjacent peaks to troughs in the displacement waveform corresponding to the maximum value of the fluctuation amount, the first notch filter being configured to filter an input displacement planning signal of the robot. The third processing module is configured to, in the case that the maximum value of the fluctuation amount of the displacement waveform is less than the fluctuation amount threshold, use a first preset step to increase the position loop gain.

9. A system for adjusting control parameters of a robot, characterized by One or more processors, memories, and one or more programs, wherein the one or more programs are stored in the memories and configured to be executed by the one or more processors, and the one or more programs include a method for adjusting the control parameters of the robot according to any one of claims 1 to 7. ​

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