Robot control method, device, computer equipment and storage medium

Abstract

This application relates to a robot control method, apparatus, computer device, and storage medium. The method includes: obtaining real-time motion parameters and control interference types of a target robot; determining a combined control compensation strategy based on the control interference type of the target robot; determining an initial compensation current based on the real-time motion parameters and the combined control compensation strategy, the initial compensation current being used to compensate for the interference corresponding to each interference motion type; determining a weight parameter corresponding to the initial compensation current based on the combined control compensation strategy; obtaining a target compensation current based on the initial compensation current and the weight parameter; and controlling the motion of the target robot using the target compensation current. This method can improve the control accuracy of robot motion.

Description

Technical Field

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

[0002] In the motion control of multi-axis robots, the key lies in the high-precision control of each joint, and the motion control design of the servo joint is directly related to the load.

[0003] Existing technologies for controlling joint motion typically employ a single control strategy to suppress interference. However, as the robot's joint position changes, the load state also changes accordingly. The real-time variation in load inertia of a single joint in a multi-axis robot can lead to inaccurate motion control compensation using a single control strategy. Furthermore, existing control models rarely consider the interference factors inherent in the robot joints themselves, resulting in low joint control accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a robot control method, device, computer equipment and storage medium that can improve the control accuracy of the robot in response to the above technical problems.

[0005] In a first aspect, the present application provides a robot control method, the method comprising:

[0006] Obtain the real-time motion parameters and control interference type of the target robot;

[0007] Determine the combined control compensation strategy according to the control interference type of the target robot;

[0008] Determine the initial compensation current based on the real-time motion parameters and the combined control compensation strategy. The initial compensation current is used to compensate for the interference amount corresponding to each interference motion type.

[0009] Determine the weight parameter corresponding to the initial compensation current according to the combined control compensation strategy;

[0010] Based on the initial compensation current and the weight parameters, the target compensation current is obtained; and the target compensation current is used to control the movement of the target robot.

[0011] In one embodiment, determining a combined control compensation strategy according to the control interference type of the target robot includes:

[0012] In the case where the control interference type is the first control interference type, determining the combined control compensation strategy to be the first combined control compensation strategy; the first control interference type indicates that each interference amount of the target robot is in an obtainable state;

[0013] Determine the initial compensation current based on real-time motion parameters and combined control compensation strategy, including:

[0014] When the combined control compensation strategy is the first combined control compensation strategy, the initial compensation current corresponding to each interference motion type is obtained according to the interference motion type corresponding to each interference amount and the real-time motion parameter.

[0015] In one embodiment, determining the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes:

[0016] When the combined control compensation strategy is the first combined control compensation strategy, the weight parameters corresponding to the initial compensation currents are set to first preset values.

[0017] In one embodiment, determining a combined control compensation strategy according to the control interference type of the target robot includes:

[0018] In the case where the control interference type is the second control interference type, determining the combined control compensation strategy to be the second combined control compensation strategy; the second control interference type indicates that each interference quantity is in an unavailable state;

[0019] Determine the initial compensation current based on real-time motion parameters and combined control compensation strategy, including:

[0020] When the combined control compensation strategy is the second combined control compensation strategy, a preset number of observation and estimation processes are performed on the real-time motion parameters to obtain a preset number of first state estimation currents; the second combined control compensation strategy characterizes each interference quantity as an unknown quantity;

[0021] The first-state estimated currents are used as initial compensation currents.

[0022] In one embodiment, determining the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes:

[0023] When the combined control and compensation strategy is the second combined control and compensation strategy, determining a target state estimated current from a preset number of first state estimated currents;

[0024] Setting the weight parameter corresponding to the target state estimated current to a second preset value;

[0025] According to the second preset value, weight parameters corresponding to the initial compensation currents are determined.

[0026] In one embodiment, determining a combined control compensation strategy according to the control interference type of the target robot includes:

[0027] In a case where the control interference type is a third control interference type, determining the combined control compensation strategy to be a third combined control compensation strategy; the third control interference type indicates that at least one interference quantity is in an obtainable state and at least one interference quantity is in an unobtainable state;

[0028] The initial compensation current is determined based on real-time motion parameters and combined control compensation strategy, including:

[0029] When the combined control compensation strategy is the third combined control compensation strategy, obtaining an initial compensation current corresponding to the interference quantity of the obtainable state according to the interference motion type corresponding to the interference quantity of the obtainable state and the real-time motion parameter;

[0030] The real-time motion parameters are observed and estimated to obtain a second state estimated current; and the second state estimated current is used as one of the initial compensation currents.

[0031] In one embodiment, determining the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes:

[0032] When the combined control and compensation strategy is the third combined control and compensation strategy, setting the weight parameter corresponding to the second state estimated current to a third preset value;

[0033] According to the third preset value, a weight parameter of the initial compensation current corresponding to the interference amount of the obtainable state is determined.

[0034] In a second aspect, the present application further provides a robot control device, the device comprising:

[0035] Parameter control acquisition module, used to obtain the real-time motion parameters of the target robot and control the interference type;

[0036] A compensation strategy determination module is used to determine a combined control compensation strategy according to the control interference type of the target robot;

[0037] A compensation current determination module is used to determine an initial compensation current based on real-time motion parameters and a combined control compensation strategy. The initial compensation current is used to compensate for the interference amount corresponding to each interference motion type.

[0038] A weight parameter determination module is used to determine the weight parameter corresponding to the initial compensation current according to the combined control compensation strategy;

[0039] The motion control module is used to obtain a target compensation current based on an initial compensation current and a weight parameter; and to control the motion of the target robot using the target compensation current.

[0040] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0042] In a fifth aspect, the present application further provides a computer program product, which includes a computer program that implements the steps of the above method when executed by a processor.

[0043] The above-mentioned robot control method, device, computer equipment and storage medium obtain the real-time motion parameters and control interference type of the target robot; and determine a combined control compensation strategy according to the control interference type of the target robot; determine an initial compensation current according to the real-time motion parameters and the combined control compensation strategy, the initial compensation current is used to compensate for the interference amount corresponding to each interference motion type; determine a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy; further, based on the initial compensation current and the weight parameter, a target compensation current can be obtained; and the target compensation current is used to control the motion of the target robot. In this way, compared with the traditional technology, the present application uses a combined control compensation strategy determined according to the control interference type of the target robot to determine the initial compensation current and the weight parameter corresponding to the initial compensation current, and compensates for the interference amount of the robot by the initial compensation current and the corresponding weight parameter, rather than using a single compensation strategy to directly compensate for the interference amount of the robot, thereby improving the control accuracy of the robot joints and further improving the control accuracy of the robot motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 1 is a flow chart of a robot control method according to an embodiment;

[0045] Figure 2 A schematic flow chart of steps for determining a combined control compensation strategy in one embodiment;

[0046] Figure 3 A schematic flow chart of steps for determining a combined control compensation strategy in another embodiment;

[0047] Figure 4 Schematic diagram of a flow chart of the steps of determining weight parameters corresponding to each initial compensation current in one embodiment;

[0048] Figure 5 A schematic flow chart of steps for determining a combined control compensation strategy in yet another embodiment;

[0049] Figure 6 Schematic diagram of a flow chart of the steps of determining weight parameters corresponding to each initial compensation current in another embodiment;

[0050] Figure 7 A schematic diagram of a control architecture for decoupling joint motion control and load state of a robot in one embodiment;

[0051] Figure 8 A schematic diagram of a composite control and output weight parameter architecture in one embodiment;

[0052] Figure 9 A schematic diagram of a motion control interference factor architecture in one embodiment;

[0053] Figure 10 is a structural block diagram of a robot control device in one embodiment;

[0054] Figure 11 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] In one embodiment, Figure 1 As shown, a robot control method is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0057] S102, obtaining the real-time motion parameters and control interference type of the target robot.

[0058] The target robot may be a robot to be controlled, or the joints of the target robot may be controlled to achieve control of the robot's motion. The real-time motion parameters may be motion parameters corresponding to the target robot's motion process, or feedback parameters obtained during the target robot's motion control process; for example, they may be motion state vectors. The control interference type may be the state type of each interference quantity that interferes with the target robot's motion, for example, the state type of the interference quantity may be an accessible state or an unavailable state; the control interference type may be determined based on the state type of each interference quantity, or the control interference type of the target robot may be determined based on the real-time motion parameters.

[0059] For example, the motion feedback parameters of the target robot can be obtained in real time during the closed-loop control process of the target robot, and the motion feedback parameters can be used as real-time motion parameters. The control interference type of the target robot can be obtained through the motion state of the target robot. For example, the motion state of the target robot can be judged to obtain the state type of each interference quantity that interferes with the motion of the target robot. As an example, if the motion state of the target robot exhibits states such as creeping and position drift, the interference type of the target robot can be analyzed based on the above states. For example, friction torque can cause creeping when the motor is in low-speed commutation and high-speed motion. Then, it can be analyzed that the interference state type of the target robot is an obtainable state. However, when the motor motion accuracy of the target robot is low and the type of interference cannot be located based on the motion state, the interference state type of the target robot is an unobtainable state. It should be noted that there are many interference factors affecting the target robot, and there may be both unlocatable interference factors and locateable interference factors. Furthermore, a compensation strategy corresponding to the control interference type can be determined based on the control interference type of the target robot. Determining different compensation strategies for different control interference types can improve the control accuracy of the target robot.

[0060] Alternatively, the control interference type of the target robot can be obtained based on the real-time motion parameters of the target robot. For example, the various interference quantities that interfere with the target robot's motion can be estimated based on the real-time motion parameters of the target robot. If the interference quantities corresponding to the various interference motion types that interfere with the target robot's motion can be calculated using the real-time motion parameters, the state of each interference quantity can be determined to be an obtainable state; if the real-time motion parameters can be used to calculate some interference quantities, the state of some interference quantities can be determined to be an obtainable state, and the state of some interference quantities can be determined to be an unobtainable state; if the real-time motion parameters cannot be used to calculate all interference quantities, the state of each interference quantity can be determined to be an unobtainable state. Furthermore, different compensation strategies can be used to compensate for the interference with the target robot's motion according to the various situations described above, so as to improve the control accuracy of the target robot.

[0061] S104: Determine a combined control compensation strategy according to the control interference type of the target robot.

[0062] The combined control compensation strategy may be a method or strategy for compensating for interference motion of the target robot.

[0063] Exemplarily, the combined control compensation strategy corresponding to the control interference motion type can be determined based on the control interference type of the target robot. For example, the correspondence between the control interference type and the combined control compensation strategy can be pre-set, and the combined control compensation strategy corresponding to the control interference motion type can be determined based on the pre-set correspondence. For example, the control interference type can include control interference types A, B, and C; the combined control compensation strategy can include combined control compensation strategies a, b, and c. Control interference types A, B, and C correspond to combined control compensation strategies a, b, and c, respectively. If the acquired control interference type is control interference type A, then the combined control compensation strategy of the target robot can be determined to be combined control compensation strategy a based on the control interference type A and the pre-set correspondence. In this way, different compensation strategies are determined for different control interference types of the target robot, thereby improving the accuracy of controlling the target robot.

[0064] S106 , determining an initial compensation current according to the real-time motion parameters and the combined control compensation strategy, where the initial compensation current is used to compensate for the interference amount corresponding to each interference motion type.

[0065] The initial compensation current may be an initial compensation current used to compensate for the interference amount corresponding to each interference motion type.

[0066] Exemplarily, at least two initial compensation currents can be determined based on real-time motion parameters and a combined control compensation strategy corresponding to the control interference type. For example, multiple initial compensation currents can be determined by utilizing real-time motion parameters and multiple compensation strategies included in the combined control compensation strategy. As an example, if it can be determined that the state of each interference quantity is an accessible state, the initial compensation current can be calculated using the state vector of the target robot based on the compensation strategy corresponding to the interference quantity. In another example, if it can be determined that the state of each interference quantity is an unavailable state, that is, the specific factors of the interference motion of the target robot cannot be located, an observer can be selected to estimate the interference term of the target robot to obtain the initial compensation current.

[0067] Furthermore, the initial compensation current can be further processed to obtain a more accurate target compensation current to accurately compensate the target robot.

[0068] S108 , determining a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy.

[0069] The weight parameter may be the weight ratio of the initial compensation current to the target compensation current.

[0070] For example, weight parameters for each initial compensation current can be determined based on the combined control compensation strategy. For example, initial compensation current a1 corresponds to weight parameter b1, initial compensation current a2 corresponds to weight parameter b2, and initial compensation current a3 corresponds to weight parameter b3. Furthermore, each initial compensation current can be fused according to its corresponding weight parameter. Interference compensation can then be performed on the target robot based on the fused initial compensation currents to improve control accuracy of the target robot.

[0071] S110 , obtaining a target compensation current based on the initial compensation current and the weight parameter; and controlling the movement of the target robot using the target compensation current.

[0072] The target compensation current may be a current used to compensate for interference motion of the target robot.

[0073] For example, a target compensation current can be obtained by weighting the initial compensation currents and their corresponding weight parameters. The target compensation current is used to perform interference compensation on the control current of the target robot, and the target robot is controlled based on the interference-compensated control current.

[0074] Optionally, the feedback current of the target robot's current movement, the target compensation current and the current bias instruction for the target robot's movement can be input into the current regulator of the target robot, and the control voltage can be output through the current regulator. The servo motor is controlled by the control voltage to drive the target robot to move.

[0075] In this embodiment, by obtaining the real-time motion parameters and control interference type of the target robot; and determining a combined control compensation strategy according to the control interference type of the target robot; by determining an initial compensation current according to the real-time motion parameters and the combined control compensation strategy, the initial compensation current is used to compensate for the interference amount corresponding to each interference motion type; by determining a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy; further, based on the initial compensation current and the weight parameter, a target compensation current can be obtained; and the target compensation current is used to control the motion of the target robot. In this way, compared with the traditional technology, the present application uses a combined control compensation strategy determined according to the control interference type of the target robot to determine the initial compensation current and the weight parameter corresponding to the initial compensation current, and compensates for the interference amount of the robot by the initial compensation current and the corresponding weight parameter, rather than using a single compensation strategy to directly compensate for the interference amount of the robot, thereby improving the control accuracy of the robot joints, and further improving the control accuracy of the robot motion.

[0076] In one embodiment, Figure 2As shown in Figure 2, according to the control interference type of the target robot, a combined control compensation strategy is determined, including:

[0077] S202 : When the control interference type is the first control interference type, determine the combined control compensation strategy as the first combined control compensation strategy; the first control interference type indicates that each interference amount of the target robot is in an obtainable state.

[0078] Determine the initial compensation current based on real-time motion parameters and combined control compensation strategy, including:

[0079] S204 , when the combined control compensation strategy is the first combined control compensation strategy, obtaining initial compensation currents corresponding to the respective interference motion types according to the interference motion types corresponding to the respective interference quantities and the real-time motion parameters.

[0080] Among them, the first control interference type can be used to characterize the various interference quantities of the target robot as being in an obtainable state, that is, if the various interference quantities can be obtained, it can be the first control interference type; or, if the specific factors of the interference can be located, it can be the first control interference type. The first combined control compensation strategy can be a pre-set combined control compensation strategy, the first combined control compensation strategy can be a combined control compensation strategy corresponding to the first control interference type, and the first combined control compensation strategy characterizes each interference quantity as a known quantity. The interference motion type can be a type corresponding to the interference motion of the target robot, for example, it can be friction torque interference, unbalanced torque interference, external motion interference torque interference, etc.

[0081] Exemplarily, by determining the control interference type of the target robot, if the control interference type is the first control interference type, then determining that each interference quantity of the target robot is in an obtainable state, and determining that the combined control compensation strategy corresponding to the first control interference type is the first combined control compensation strategy. When each interference quantity is in an obtainable state, the initial compensation current corresponding to each interference motion type can be obtained based on the interference motion type corresponding to each interference quantity and the real-time motion parameters. For example, the interference quantity corresponding to the friction torque, the interference quantity corresponding to the unbalanced torque, and the interference quantity corresponding to the external motion interference torque can be obtained; the initial compensation current for compensating for the friction torque can be obtained by calculating the strategy for compensating for the friction torque and the real-time motion parameters; the initial compensation current for compensating for the unbalanced torque can be obtained by calculating the strategy for compensating for the unbalanced torque and the real-time motion parameters; the initial compensation current for compensating for the external motion interference torque can be obtained by calculating the strategy for compensating for the external motion interference torque and the real-time motion parameters.

[0082] In this embodiment, when the interference quantities of the target robot are in an obtainable state, the initial compensation current corresponding to each interference motion type is obtained according to the interference motion type corresponding to each interference quantity and the real-time motion parameters. In this way, the accuracy of the initial compensation current corresponding to each interference motion type can be improved, thereby improving the interference compensation accuracy of the target robot, and further improving the control accuracy of the target robot.

[0083] In one embodiment, the weight parameters corresponding to the initial compensation currents are determined according to the combined control compensation strategy, including:

[0084] When the combined control compensation strategy is the first combined control compensation strategy, the weight parameters corresponding to the initial compensation currents are set to first preset values.

[0085] The first preset value may be a pre-set value.

[0086] For example, if the interference quantities of the target robot are in an accessible state, the combined control compensation strategy is the first combined control compensation strategy. In this case, the initial compensation current can be output as completely as possible to compensate the target robot. The value range of the weight parameter can be set to 0≤z i ≤1, where z i is the weight parameter corresponding to the i-th initial compensation current. As an example, each weight parameter can be set to 1, that is, the first preset value can be 1.

[0087] In this embodiment, when the combined control compensation strategy is the first combined control compensation strategy, the weight parameters corresponding to the initial compensation currents are set to the first preset value. This ensures that the initial compensation currents compensate the target robot as completely as possible, thereby improving the accuracy of interference compensation for the target robot and further improving the control precision of the target robot.

[0088] In one embodiment, Figure 3 As shown in FIG, a combined control compensation strategy is determined according to the control interference type of the target robot, including:

[0089] S302: When the control interference type is the second control interference type, determining the combined control compensation strategy to be the second combined control compensation strategy; the second control interference type indicates that each interference quantity is in an unavailable state;

[0090] Determine the initial compensation current based on real-time motion parameters and combined control compensation strategy, including:

[0091] S304, when the combined control and compensation strategy is the second combined control and compensation strategy, performing a preset number of observation and estimation processes on the real-time motion parameters to obtain a preset number of first state estimated currents; the second combined control and compensation strategy characterizes each interference quantity as an unknown quantity;

[0092] S306 , using the first-state estimated currents as initial compensation currents.

[0093] Among them, the second control interference type can be used to characterize that the various interference quantities of the target robot are in an unobtainable state, that is, if the various interference quantities cannot be obtained, it can be the second control interference type; or, if the specific factors of the interference cannot be located, it can be the second control interference type. The second combined control compensation strategy can be a pre-set combined control compensation strategy, the second combined control compensation strategy can be a combined control compensation strategy corresponding to the second control interference type, and the second combined control compensation strategy can characterize each interference quantity as an unknown quantity. The observation estimation processing can be a processing method of using an observer to observe the state of the target robot. The first state estimated current can be an estimated current obtained after the state of the target robot is observed by the observer, and the estimated current can be a motor state quantity. The preset number and the preset times can correspond to each other. For example, if the preset number is 3, the preset number is also 3. For example, each observer corresponds to a compensation channel, and 3 observers correspond to 3 compensation channels. The 3 observers can be used to perform observation and estimation processing respectively. Three observation and estimation processes are performed by the 3 observers to obtain 3 first-state estimated currents. Then, the 3 first-state estimated currents are the initial compensation currents of the compensation channel corresponding to each observer. For example, in compensation channel one, observer A can be used to obtain the initial compensation current i1; in compensation channel two, observer B can be used to obtain the initial compensation current i2.

[0094] Exemplarily, by determining the control interference type of the target robot, if the control interference type is the second control interference type, it is determined that the interference quantities of the target robot are in an unavailable state, and the combined control compensation strategy corresponding to the second control interference type is determined to be the second combined control compensation strategy. In the case where each interference quantity is an unknown quantity, the real-time motion parameter can be observed and estimated a preset number of times. For example, the real-time motion parameter can be observed and estimated multiple times using multiple observers to obtain a preset number of first state estimated currents corresponding to the preset number of times. The first state estimated current can be used as the initial compensation current. In this way, in the case where each interference quantity is an unknown quantity, the initial compensation current can be obtained based on the observation and estimation of the real-time motion parameter, which can improve the accuracy of determining the initial compensation current.

[0095] Alternatively, if the specific factors interfering with the target robot's motion cannot be located, an observer can be used to estimate the interference term, obtain a first state estimated current, and output the first state estimated current as compensation. Observers of different architectures can be used for interference term estimation, such as state observers, interference observers, and Kalman state observers. These observers are all modeled based on the actual motion state variables and state equations of the motor, and the corresponding output first state estimated current is also the motor state variable.

[0096] In this embodiment, when the target robot's disturbance variables are unknown, a preset number of observations and estimations are performed on the real-time motion parameters to obtain a preset number of first-state estimated currents. A second combined control compensation strategy characterizes the disturbance variables as unknown, and each of the first-state estimated currents is used as the initial compensation current. This improves the accuracy of determining the initial compensation currents, thereby enhancing the control precision of the target robot.

[0097] In one embodiment, Figure 4 As shown, the weight parameters corresponding to each initial compensation current are determined according to the combined control compensation strategy, including:

[0098] S402, when the combined control and compensation strategy is the second combined control and compensation strategy, determining a target state estimated current from a preset number of first state estimated currents;

[0099] S404, setting the weight parameter corresponding to the target state estimated current to a second preset value;

[0100] S406: Determine weight parameters corresponding to the initial compensation currents according to the second preset value.

[0101] The target state estimation current may be a primary compensation current. For example, a pre-set state estimation current may be used as the primary compensation current, its corresponding weight parameter may be set as large as possible, and other state estimation currents other than the pre-set state estimation current may be used as residual compensation currents. The second preset value may be a pre-set value.

[0102] For example, if the interference quantities of the target robot are unknown, the combined control compensation strategy is the second combined control compensation strategy. In this case, the preset target state estimated current can be obtained from the preset number of first state estimated currents; the target state estimated current can be mainly compensated by the current, and the weight parameter corresponding to the target state estimated current can be set to the second preset value. According to the second preset value, the weight parameters corresponding to each initial compensation current are determined. For example, if the interference quantities of the target robot are unknown, z1+z2+…+z i ≤1, z iis the weight parameter corresponding to the i-th initial compensation current. If the state estimation current corresponding to z1 is the target state estimation current, z1 is set to the second preset value, and according to z1, z1+z2+…+z i ≤1 to determine z2, z3, ..., z i The value of .

[0103] Optionally, the weight parameter corresponding to each first-state estimated current satisfies 0≤z i ≤1, it should be adjusted according to the compensation effect of the strategy channel corresponding to each first-state estimated current, and satisfy z1+z2+…+z i ≤1. When the physical quantities of the compensation objects output by each strategy are consistent, the total compensation current should not exceed the current required by the interference torque. Due to the different design processes and effects of each observer, for example, the state observer is more dependent on the parameter modeling of the controlled object, the interference observer requires both theoretical parameters and filter design, and the Kalman observer has a combined effect of estimation and smoothing. It is possible to design a weight parameter corresponding to the first state estimated current to be as large as possible, and adjust the weight parameters corresponding to other first state estimated currents as residual compensation.

[0104] In this embodiment, when the combined control compensation strategy is the second combined control compensation strategy, a target state estimated current is determined from a preset number of first state estimated currents; a weight parameter corresponding to the target state estimated current is set to a second preset value; and based on the second preset value, weight parameters corresponding to each initial compensation current are determined. This ensures that one state estimated current serves as the primary compensation current, while the other state estimated currents serve as residual compensation. This improves the accuracy of interference compensation for the target robot and, consequently, the control precision of the target robot.

[0105] In one embodiment, Figure 5 As shown in FIG, a combined control compensation strategy is determined according to the control interference type of the target robot, including:

[0106] S502: When the control interference type is a third control interference type, determining the combined control compensation strategy to be a third combined control compensation strategy; the third control interference type indicates that at least one interference quantity is in an accessible state and at least one interference quantity is in an unavailable state;

[0107] The initial compensation current is determined based on real-time motion parameters and combined control compensation strategy, including:

[0108] S504, when the combined control compensation strategy is the third combined control compensation strategy, obtaining an initial compensation current corresponding to the interference quantity of the obtainable state according to the interference motion type corresponding to the interference quantity of the obtainable state and the real-time motion parameter;

[0109] S506 , performing observation and estimation processing on the real-time motion parameters to obtain a second state estimated current; and using the second state estimated current as one of the initial compensation currents.

[0110] The third control interference type may be used to characterize that at least one interference quantity of the target robot is in an accessible state and at least one interference quantity is in an unavailable state. The third combined control compensation strategy may be a pre-set combined control compensation strategy. The third combined control compensation strategy may be a combined control compensation strategy corresponding to the third control interference type. The third combined control compensation strategy may characterize that some interference quantities are unknown and some interference quantities are known. The second state estimated current may be an estimated current obtained by observing the state of the target robot through an observer. The estimated current may be a motor state quantity.

[0111] Exemplarily, by determining the control interference type of the target robot, if the control interference type is a third control interference type, it is determined that at least one interference quantity of the target robot is in an accessible state and at least one interference quantity is in an unavailable state, and the combined control compensation strategy corresponding to the third control interference type is determined to be the third combined control compensation strategy. When some interference quantities are known and some interference quantities are unknown, an initial compensation current corresponding to the accessible interference quantity can be obtained based on the interference motion type corresponding to at least one accessible interference quantity and real-time motion parameters; and the real-time motion parameters can be observed and estimated to obtain a second state estimated current, and the second state estimated current can be used as one of the initial compensation currents. In this way, when some interference quantities are known and some interference quantities are unknown, some initial compensation currents can be obtained based on the interference motion type corresponding to the known quantities and the real-time motion parameters, and the real-time motion parameters can be observed and estimated to obtain another part of the initial compensation current, which can improve the accuracy of determining the initial compensation current.

[0112] Optionally, when some of the target robot's interference quantities are known and some are unknown, the interference quantities corresponding to the friction torque and the unbalanced torque can be obtained. Then, an initial compensation current for compensating for the friction torque can be calculated using a friction torque compensation strategy and real-time motion parameters. Furthermore, an initial compensation current for compensating for the unbalanced torque can be calculated using a unbalanced torque compensation strategy and real-time motion parameters. Furthermore, an observer can be used to estimate the interference term to obtain a second state estimated current, which is then output for compensation.

[0113] In this embodiment, when some disturbances of the target robot are known and some are unknown, an initial compensation current corresponding to the disturbance in the obtainable state is obtained based on the type of disturbance motion corresponding to at least one obtainable state disturbance and real-time motion parameters. The real-time motion parameters are observed and estimated to obtain a second state estimated current. This second state estimated current is then used as one of the initial compensation currents. This improves the accuracy of determining the initial compensation current in this situation, thereby improving the control precision of the target robot.

[0114] In one embodiment, Figure 6 As shown, the weight parameters corresponding to each initial compensation current are determined according to the combined control compensation strategy, including:

[0115] S602, when the combined control and compensation strategy is the third combined control and compensation strategy, setting the weight parameter corresponding to the second state estimated current to a third preset value;

[0116] S604: Determine a weight parameter of an initial compensation current corresponding to the interference amount of the obtainable state according to a third preset value.

[0117] The third preset value may be a pre-set value.

[0118] Exemplarily, if part of the interference amount of the target robot is a known quantity and part of the interference amount is an unknown quantity, the combined control compensation strategy is the third combined control compensation strategy. In this case, the weight parameter corresponding to the second state estimated current can be set to a third preset value, and the weight parameter of the initial compensation current corresponding to the interference amount of the obtainable state is determined based on the third preset value. For example, the weight parameter corresponding to the second state estimated current can be z1, where 0≤z1≤1, and the weight parameter of the initial compensation current corresponding to the interference amount of the obtainable state is z′2…z′ i , where 0≤z′ i ≤1, z′ i is the initial weight parameter corresponding to the initial compensation current corresponding to the interference amount of the i-th obtainable state. The weight parameter of the initial compensation current corresponding to the interference amount of the obtainable state can be calculated according to the formula z i =(1-z1)×z′ i , where i is greater than 1 to achieve, here z i is the weight parameter corresponding to the initial compensation current corresponding to the interference amount of the i-th obtainable state that is finally determined.

[0119] Optionally, if there is some unknown interference, an observer is required for state estimation and compensation. The observer compensation channel coefficient is z1, where 0≤z1≤1. The compensation parameters of other interference term strategies that can be clearly defined are z′2…z′ i, where 0≤z′ i ≤1. Since the observer fully estimates the actual state of the target robot, its output may include compensation for various interference items to the target robot. The weight parameters can be designed to satisfy the following formula:

[0120] z i =(1-z1)×z′ i , i>1

[0121] That is, when there is a state compensation estimate such as an observer, the weight of the initial compensation current corresponding to the disturbance amount of the state can be obtained only to compensate for the residual disturbance.

[0122] For example, if the first compensation channel is compensated using an observer, and the weight parameter z1 corresponding to the second state estimated current obtained by the observer is 0.9; the second compensation channel is compensated using the disturbance variable of the available state, and the initial weight parameter z′2 corresponding to the disturbance variable is 0.8. Since the observer fully estimates the actual state of the target robot, its output may include compensation for various known disturbances to the target robot. Therefore, the first compensation channel can be used as the main compensation channel, and the corresponding weight parameter of the first compensation channel can be determined to be 0.9; the second compensation channel can be used as the residual compensation channel, and the corresponding weight parameter of the second compensation channel is z2 = (1-0.9) × 0.8 = 0.08.

[0123] In this embodiment, when the combined control compensation strategy is the third combined control compensation strategy, the weight parameter corresponding to the second-state estimated current is set to a third preset value; and based on the third preset value, the weight parameter of the initial compensation current corresponding to the disturbance amount in the accessible state is determined. In this way, the second-state estimated current obtained by observation and estimation can be determined as the main compensation current, and the initial compensation current corresponding to the disturbance amount in the accessible state can be determined as the residual compensation, thereby improving the accuracy of the disturbance compensation of the target robot and, consequently, the control precision of the target robot.

[0124] In one embodiment, the key to robot motion control is high-precision control of each joint, and the motion control design of the servo joint is directly related to the load. The load state of the robot joint generally changes with the change of the motion posture, which requires real-time identification of the load inertia of a single joint and the subsequent change of the control parameters, which greatly increases the complexity of the single joint control design and the control stability cannot be fully guaranteed. In order to simplify the joint controller, such as Figure 7 As shown, Figure 7This is a schematic diagram of the control architecture for decoupling the robot's joint motion control from the load state. By decoupling the motor motion control from the load state, the real-time load state of each joint can be synchronously calculated from the real-time feedback of the posture information of each joint during the upper-level robot inverse kinematics solution process, such as the load torque T of joint i during motion. Li (t), and through the torque coefficient K of motor i ti The current bias command i that forms the motor motion io (t), at this time, the parameters of the current controller are only related to the characteristics of the controlled motor. In order to achieve the target posture of the robot, the joint i controller also receives the calculated joint i motion command c i (t). Joint i motion command c i (t) The current command i is obtained by controlling the output of joint i motion i (t), current command i i (t) and current bias command i io (t) Motor i is controlled by current regulator i, which in turn drives load i to move. The joint control loop ensures that the motor follows the command and ultimately reaches the target pose. Because the offset compensation for the joint load is decoupled from the pose motion command, the controller design that satisfies the motion command is solely dependent on the motor being controlled.

[0125] like Figure 8 The schematic diagram of the composite control and output weight parameter architecture is shown in Fig. fdb 、v fdb 、p fdb are the feedback current, feedback speed, and feedback position of the robot joint’s current motion, i ref 、v ref 、p ref They are the input current command of the current regulator, the input speed command of the speed regulator, and the received position command of the position regulator, which control the joint motion of the robot. The output u c Control motor movement.

[0126] The controller of each loop can use the error PID (proportion integration differentiation) regulation law, the current bias command i offset During the joint control process, the upper layer of the robot solves the real-time output, multiplies it by the coefficient z (0≤z≤1) and adds it to the input current command. The motor directly overcomes the load torque to achieve the target motion.

[0127] above Figure 8The composite control and output weight parameter architecture can realize the basic motion function of the joint, and the load torque is directly input and controlled by the current bias, realizing the decoupling of the motor motion control and the load state. Under completely ideal conditions, the output torque T of the servo motor is e Only the load torque T needs to be overcome L , but the friction torque T also affects the actual output shaft movement f , unbalanced moment T x , external motion disturbance torque T w , and other position interference factors, which affect the motor motion accuracy in addition to the load torque, all form interference torque T d , the impact on the control architecture is as follows Figure 9 The architecture of motor control affected by interference factors is shown.

[0128] Due to the existence of various interference factors, the control accuracy of the motor will show different error phenomena due to different interferences, such as the friction torque T f This causes the motor to lag during low-speed commutation motion, resulting in unbalanced torque T x When the position control is in steady state, it may cause position drift, and external motion interference T w This directly leads to a decrease in the accuracy of joint motion control. In order to suppress or even offset these interferences, the following can be designed: Figure 8 The optimized control strategy architecture shown in the control compensation strategy performs feedforward compensation control of different interference terms. Since the motor current and output torque are ideally proportional, the compensation i of the current command output by different control strategies is bci That is, it is a direct compensation for various interference torques.

[0129] Figure 8 In the control compensation strategy shown, s i is the state vector input required by control strategy i, i bci is the compensation current output by the control strategy i, i bcs is the target compensation current.

[0130] In general, if Figure 8 The combined current compensated by the composite control strategy shown can suppress the motor interference torque, as shown in formula (1):

[0131] i bcs =z1×i bc1 +z2×i bc2 +…z i ×i bci (1)

[0132] In formula (1), z iare the output weight parameters of each compensation strategy, which further determine the contribution of each compensation channel output current. However, different combination control compensation strategies require different weight parameter designs.

[0133] If it has been preliminarily determined that the interference torque on the motor includes the friction torque T f , unbalanced moment T x , external motion disturbance torque T w And so on, and corresponding to the design strategy 1 is friction compensation, strategy 2 is unbalanced torque compensation, strategy 3 is to estimate the motion disturbance torque, then the compensation current of each channel should be output as completely as possible, and the value range of the weight parameter is 0≤z i ≤1, let the total current compensation i bcs Can fully suppress various interference torques.

[0134] If the motor motion accuracy is poor and the specific factors of the interference cannot be located, the control strategy can select an observer to estimate the interference term, obtain the first state estimated current, and output the first state estimated current as compensation. Observers of different architectures can be used to estimate interference terms, such as strategy 1 is a state observer, strategy 2 is an interference observer, strategy 3 is a Kalman state observer, etc. These observers are modeled based on the actual motion state quantity and state equation of the motor, and the corresponding output first state estimated current is also the motor state quantity. The weight parameters corresponding to each first state estimated current satisfy 0≤z i ≤1, it should be adjusted according to the compensation effect of the strategy channel corresponding to each first-state estimated current and satisfy the following formula (2):

[0135] z1+z2+…+z i ≤1 (2)

[0136] Equation (2) shows that when the physical quantities of the compensation objects output by each strategy are consistent, the total compensation current should not exceed the current required by the disturbance torque. Due to the different design processes and effects of each observer, for example, the state observer relies more on the parameter modeling of the controlled object, the disturbance observer requires both theoretical parameters and filter design, and the Kalman observer has a combined effect of estimation and smoothing. It is possible to design a weight parameter corresponding to the first state estimated current as large as possible, and adjust the weight parameters corresponding to other first state estimated currents as residual compensation.

[0137] If the compensation controller has output the compensation amount of the known interference term, but the motor motion accuracy still does not meet the index, there may be some unknown interference. The observer can be used for state estimation and compensation. The observer compensation channel coefficient is z1, where 0≤z1≤1. The weight parameters of the initial compensation current corresponding to other clear interference terms (interference quantities with obtainable states) are z′2…z′ i , 0≤z′i ≤1, z′ i is the weight parameter corresponding to the initial compensation current corresponding to the disturbance of the i-th obtainable state. Since the observer fully estimates the actual state of the target robot, its output may include compensation for various disturbance items of the target robot. The weight parameter can be designed to satisfy the following formula (3):

[0138] z i =(1-z1)×z′ i (3)

[0139] Equation (3) shows that when there is a state compensation estimate such as an observer, the weight of the initial compensation current corresponding to the disturbance amount of the state can be obtained only to compensate for the residual disturbance.

[0140] The weight parameter design requirements of the compensation controller provided in this application are different, but they all meet one goal: to achieve complete compensation for known and unknown disturbance torques as much as possible, and not to make the total output i bcs Overcompensation is required to avoid unexpected movement of the joint motor.

[0141] In this embodiment, a composite control architecture is designed that combines different control strategies with robot inverse kinematics compensation, rather than being limited to the application of just one or two control strategies. The outputs of each control strategy are evaluated, and weight parameters are designed. The compensation currents corresponding to the different control strategies are weighted and then applied to the motion of the robot's joint motors. This effectively suppresses various motion interference factors affecting the robot's joints, significantly improving the robot's control accuracy.

[0142] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0143] Based on the same inventive concept, embodiments of the present application also provide a robot control device for implementing the aforementioned robot control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more robot control device embodiments provided below can be found in the above-described limitations of the robot control method and will not be further elaborated here.

[0144] In one embodiment, Figure 10 As shown, a robot control device 900 is provided, comprising: a parameter control acquisition module 910, a compensation strategy determination module 920, a compensation current determination module 930, a weight parameter determination module 940 and a motion control module 950, wherein:

[0145] Parameter control acquisition module 910, used to obtain the real-time motion parameters of the target robot and the control interference type;

[0146] a compensation strategy determination module 920 for determining a combined control compensation strategy according to the control interference type of the target robot;

[0147] A compensation current determination module 930 is configured to determine an initial compensation current based on real-time motion parameters and a combined control compensation strategy. The initial compensation current is used to compensate for the interference amount corresponding to each interference motion type.

[0148] A weight parameter determination module 940 is configured to determine a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy;

[0149] The motion control module 950 is used to obtain a target compensation current based on the initial compensation current and the weight parameter; and use the target compensation current to control the motion of the target robot.

[0150] In one implementation, the compensation strategy determination module includes a first compensation strategy unit, and the compensation current determination module includes a first compensation current determination unit.

[0151] The first compensation strategy unit is configured to determine, when the control interference type is the first control interference type, that the combined control compensation strategy is the first combined control compensation strategy; the first control interference type indicates that each interference quantity of the target robot is in an accessible state. The first compensation current determination unit is configured to, when the combined control compensation strategy is the first combined control compensation strategy, obtain initial compensation currents corresponding to each interference motion type based on the interference motion type corresponding to each interference quantity and real-time motion parameters.

[0152] In one embodiment, the weight parameter determination module includes a first preset value setting unit configured to set the weight parameters corresponding to the initial compensation currents to first preset values ​​when the combined control compensation strategy is the first combined control compensation strategy.

[0153] In one implementation, the compensation strategy determination module includes a second compensation strategy unit, and the compensation current determination module includes a first observation estimation unit and a first state estimation current unit.

[0154] The second compensation strategy unit is configured to determine that the combined control compensation strategy is the second combined control compensation strategy when the control interference type is the second control interference type; the second control interference type indicates that each interference quantity is in an unavailable state. The observation and estimation unit is configured to perform a preset number of observation and estimation processes on the real-time motion parameters when the combined control compensation strategy is the second combined control compensation strategy to obtain a preset number of first-state estimated currents; the second combined control compensation strategy indicates that each interference quantity is an unknown quantity. The first-state estimated current unit is configured to use each first-state estimated current as an initial compensation current.

[0155] In one implementation, the weight parameter determination module includes a target estimated current unit, a second preset value setting unit, and a state estimation parameter determination unit.

[0156] The target estimated current unit is configured to determine a target state estimated current from a preset number of first state estimated currents when the combined control compensation strategy is the second combined control compensation strategy. The second preset value setting unit is configured to set a weight parameter corresponding to the target state estimated current to a second preset value. The weight parameter determination unit is configured to determine a weight parameter corresponding to each initial compensation current based on the second preset value.

[0157] In one implementation, the compensation strategy determination module includes a third compensation strategy unit, and the compensation current determination module includes an obtainable interference quantity unit and a second observation estimation determination unit.

[0158] The third compensation strategy unit is configured to determine, when the control interference type is the third control interference type, that the combined control compensation strategy is the third combined control compensation strategy; the third control interference type indicates that at least one interference quantity is in an accessible state and at least one interference quantity is in an unavailable state. The accessible interference quantity unit is configured to, when the combined control compensation strategy is the third combined control compensation strategy, obtain an initial compensation current corresponding to the interference quantity in the accessible state based on the interference motion type corresponding to the at least one interference quantity in the accessible state and the real-time motion parameters. The second observation estimation determination unit is configured to perform observation estimation processing on the real-time motion parameters to obtain a second state estimated current; and use the second state estimated current as one of the initial compensation currents.

[0159] In one implementation, the weight parameter determination module includes a third preset value setting unit and a known weight parameter.

[0160] The third preset value setting unit is used to set the weight parameter corresponding to the second state estimated current to a third preset value when the combined control compensation strategy is the third combined control compensation strategy, and the known quantity weight parameter is used to determine the weight parameter of the initial compensation current corresponding to the interference quantity of the obtainable state according to the third preset value.

[0161] Each module in the aforementioned robot control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0162] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a robot control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0163] Those skilled in the art will understand that Figure 11The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0164] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0165] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0166] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0167] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0168] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0169] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A robot control method, characterized in that: The method comprises: Obtain the real-time motion parameters and control interference type of the target robot; determining a combined control compensation strategy according to the control interference type of the target robot; determining an initial compensation current according to the real-time motion parameter and the combined control compensation strategy, wherein the initial compensation current is used to compensate for the interference amount corresponding to each interference motion type; Determining a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy; Based on the initial compensation current and the weight parameter, a target compensation current is obtained; and the target robot movement is controlled using the target compensation current.

2. The method according to claim 1, characterized in that The determining of a combined control compensation strategy according to the control interference type of the target robot includes: In a case where the control interference type is a first control interference type, determining the combined control compensation strategy to be a first combined control compensation strategy; the first control interference type indicates that each interference amount of the target robot is in an obtainable state; The determining of the initial compensation current according to the real-time motion parameter and the combined control compensation strategy includes: When the combined control compensation strategy is the first combined control compensation strategy, the initial compensation current corresponding to each interference motion type is obtained according to the interference motion type corresponding to each interference amount and the real-time motion parameter.

3. The method according to claim 2, characterized in that The determining of the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes: In a case where the combined control compensation strategy is the first combined control compensation strategy, the weight parameters corresponding to the initial compensation currents are set to first preset values.

4. The method according to claim 1, wherein The determining of a combined control compensation strategy according to the control interference type of the target robot includes: In a case where the control interference type is a second control interference type, determining that the combined control compensation strategy is a second combined control compensation strategy; the second control interference type indicates that each of the interference quantities is in an unavailable state; The determining of the initial compensation current according to the real-time motion parameter and the combined control compensation strategy includes: determining the initial compensation current according to the real-time motion parameter and the combined control compensation strategy includes: When the combined control and compensation strategy is the second combined control and compensation strategy, a preset number of observation and estimation processes are performed on the real-time motion parameters to obtain a preset number of first state estimation currents; the second combined control and compensation strategy characterizes each of the interference quantities as an unknown quantity; The first-state estimated currents are used as the initial compensation currents.

5. The method according to claim 4, characterized in that The determining of the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes: In a case where the combined control and compensation strategy is the second combined control and compensation strategy, determining a target state estimated current from the preset number of first state estimated currents; Setting the weight parameter corresponding to the target state estimated current to a second preset value; According to the second preset value, weight parameters corresponding to the initial compensation currents are determined.

6. The method according to claim 1, characterized in that The determining of a combined control compensation strategy according to the control interference type of the target robot includes: In a case where the control interference type is a third control interference type, determining that the combined control compensation strategy is a third combined control compensation strategy; the third control interference type indicates that at least one of the interference quantities is in an obtainable state and at least one of the interference quantities is in an unobtainable state; The determining of the initial compensation current according to the real-time motion parameter and the combined control compensation strategy includes: When the combined control compensation strategy is the third combined control compensation strategy, obtaining an initial compensation current corresponding to the interference quantity of the obtainable state according to the interference motion type corresponding to the interference quantity of the obtainable state and the real-time motion parameter; The real-time motion parameters are observed and estimated to obtain a second state estimated current; and the second state estimated current is used as one of the initial compensation currents.

7. The method according to claim 6, characterized in that The determining of the weight parameters corresponding to the initial compensation currents according to the combined control compensation strategy includes: When the combined control and compensation strategy is the third combined control and compensation strategy, setting the weight parameter corresponding to the second state estimated current to a third preset value; A weight parameter of the initial compensation current corresponding to the interference amount in the obtainable state is determined according to the third preset value.

8. A robot control device, characterized in that: The device comprises: Parameter control acquisition module, used to obtain the real-time motion parameters of the target robot and control the interference type; a compensation strategy determination module, configured to determine a combined control compensation strategy according to a control interference type of the target robot; a compensation current determination module, configured to determine an initial compensation current according to the real-time motion parameters and the combined control compensation strategy, wherein the initial compensation current is used to compensate for the interference amount corresponding to each interference motion type; A weight parameter determination module, configured to determine a weight parameter corresponding to the initial compensation current according to the combined control compensation strategy; A motion control module is configured to obtain a target compensation current based on the initial compensation current and the weight parameter; and to control the motion of the target robot using the target compensation current.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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