Method, device, equipment and medium for determining working position of robotic arm base

Abstract

The present disclosure relates to a method, device, equipment and medium for determining the working position of a robotic arm base. When the robotic arm base is at any current position in a preset space, first pose data of the end effector on the robotic arm is determined, where the preset space is a three-dimensional space determined with the operation point corresponding to the operation area as the center; according to the first pose data and the second pose data of the operation point, the reachable positions of the end effector are obtained from the preset space; the flexibility index values corresponding to the reachable positions of the end effector are determined; based on the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions, the target placement position of the robotic arm base is determined from the preset space. Thus, reachability analysis and flexibility analysis can be automatically performed to determine the optimal position of the robotic arm base as the target placement position. Therefore, the analysis accuracy of reachability and flexibility is improved, and ultimately it is beneficial to improve the operation effect of the end effector on the operation area.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motion control of robots, and in particular, to a method, device, equipment and medium for determining the working position of a robotic arm base. Background Art

[0002] When using a robotic arm to operate on an operation area (such as a tooth area in the oral cavity or a bone surface area of a joint), the position of the robotic arm base is different, and the reachability and flexibility of the end effector on the robotic arm to the operation area are different. Therefore, it is necessary to determine the optimal working position of the robotic arm base so that the reachability and flexibility of the end effector on the robotic arm to the operation area are satisfied.

[0003] In the prior art, an offline simulation method is often used for reachability prediction, and flexibility analysis cannot be performed, resulting in the inability to accurately determine the reachability and flexibility of the end effector on the robotic arm to the operation area, thereby affecting the operation effect of the end effector on the operation area. Summary of the Invention

[0004] To solve the above technical problems, the present disclosure provides a method, device, equipment and medium for determining the working position of a robotic arm base.

[0005] In a first aspect, the present disclosure provides a method for determining the working position of a robotic arm base, which is applied to an electronic device corresponding to the robotic arm base. The method includes:

[0006] When the robotic arm base is at any current position in a preset space, determining the first pose data of the end effector on the robotic arm, where the preset space is a three-dimensional space determined with an operation point corresponding to the operation area as the center;

[0007] Obtaining the reachable position of the end effector from the preset space according to the first pose data and the second pose data of the operation point;

[0008] Determining the flexibility index value corresponding to the reachable position;

[0009] Based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position, determining the target placement position of the robotic arm base from the preset space.

[0010] In a second aspect, the present disclosure provides a device for determining the working position of a robotic arm base, which is configured in an electronic device corresponding to the robotic arm base. The device includes:

[0011] A first determination module, configured to determine the first pose data of the end effector on the robotic arm when the robotic arm base is at any current position in a preset space, where the preset space is a three-dimensional space determined with an operation point corresponding to the operation area as the center;

[0012] A reachable position acquisition module, configured to acquire the reachable positions of the end effector from the preset space according to the first pose data and the second pose data of the operation point;

[0013] A second determination module, configured to determine the flexibility index value corresponding to the reachable position;

[0014] A third determination module, configured to determine the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position.

[0015] In a third aspect, an embodiment of the present disclosure further provides an electronic device, which includes:

[0016] One or more processors;

[0017] A storage device, configured to store one or more programs,

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the method provided in the first aspect.

[0019] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method provided in the first aspect is implemented.

[0020] The technical solution provided by the embodiment of the present disclosure has the following advantages compared with the prior art:

[0021] A method, device, equipment and medium for determining the working position of a robotic arm base according to an embodiment of the present disclosure. The method is applied to an electronic device corresponding to the robotic arm base. The method includes: when the robotic arm base is at any current position in a preset space, determining the first pose data of the end effector on the robotic arm, where the preset space is a three-dimensional space determined with the operation point corresponding to the operation area as the center; acquiring the reachable positions of the end effector from the preset space according to the first pose data and the second pose data of the operation point; determining the flexibility index value corresponding to the reachable position; and determining the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position. Thus, for the preset space determined with the center of the operation area as the center, when the robotic arm base is at any position in the preset space, it is possible to automatically perform reachability analysis and flexibility analysis by analyzing the first pose data of the end effector on the robotic arm and the second pose data of the operation point corresponding to the operation area, so as to determine the best position of the robotic arm base from multiple positions in the preset space as the target placement position. Therefore, the analysis accuracy of reachability and flexibility is improved, and ultimately it is beneficial to improve the operation effect of the end effector on the operation area. Brief Description of the Drawings

[0022] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0023] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or in the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a system block diagram of a working position determination system for a robotic arm base provided by an embodiment of the present disclosure;

[0025] Figure 2 It is a flowchart of a method for determining the working position of a robotic arm base provided by an embodiment of the present disclosure;

[0026] Figure 3 It is a schematic diagram of the spatial range of a preset space provided by an embodiment of the present disclosure;

[0027] Figure 4 It is a flowchart of another method for determining the working position of a robotic arm base provided by an embodiment of the present disclosure;

[0028] Figure 5 It is a rendering showing the reachable space in a preset space provided by an embodiment of the present disclosure;

[0029] Figure 6 It is another rendering showing the reachable space in a preset space provided by an embodiment of the present disclosure;

[0030] Figure 7 It is a schematic structural diagram of a device for determining the working position of a robotic arm base provided by an embodiment of the present disclosure;

[0031] Figure 8 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. Detailed Description of the Embodiments

[0032] To be able to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the following will further describe the solutions of the present disclosure. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0033] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0034] For the convenience of understanding the method for determining the working position of the robotic arm base, Figure 1 a system block diagram of the system for determining the working position of the robotic arm base is shown. As Figure 1 shown, the system for determining the working position of the robotic arm base includes: a workbench 200 of the robotic arm base 100, a robotic arm 300, an end effector 400, an operation area 500, and an electronic device (not shown in the figure).

[0035] Specifically, the robotic arm base 100 is installed on the workbench 200. Before the robotic arm 300 operates on the operation area 500 through the end effector 400, the electronic device needs to perform reachability analysis and flexibility analysis on the end effector 400, so as to determine the optimal placement position of the robotic arm base 100 based on the results of the reachability analysis and the flexibility analysis, and use it as the target placement position of the robotic arm base 100.

[0036] In this way, placing the robotic arm base at the optimal placement position can make the reachability and flexibility of the end effector reach an optimal level at the same time. When using the end effector that meets such requirements to operate on the operation area, the operation effect can be improved.

[0037] In order to accurately determine the reachability and flexibility of the end effector on the robotic arm for the operation area, the following combines Figures 2 to 6 to illustrate the method for determining the working position of the robotic arm base provided in the embodiments of the present disclosure. In the embodiments of the present disclosure, the method for determining the working position of the robotic arm base may be executed by an electronic device corresponding to the robotic arm base. The electronic device may include devices with communication functions such as a tablet computer, a desktop computer, a laptop computer, etc., or may also include a device simulated by a virtual machine or an emulator.

[0038] Figure 2 A schematic flowchart of a method for determining the working position of a robotic arm base provided in an embodiment of the present disclosure is shown.

[0039] As Figure 2 shown, the method for determining the working position of the robotic arm base may include the following steps.

[0040] S210. When the robotic arm base is at any current position in a preset space, determine the first pose data of the end effector on the robotic arm, where the preset space is a three-dimensional space determined with the operation point corresponding to the operation area as the center.

[0041] In this embodiment, before using the end tool on the robot arm to operate on the working area, first, a preset space is generated with the working point corresponding to the working area as the center, based on the x, y, and z directions in the three-dimensional space described by the world coordinates; then, in the preset space, the robot arm base is placed at any current position to determine the first position pose data of the end tool on the robot arm.

[0042] The working area refers to the distribution area of ​​the end tool when working on the object being worked. For example, if the object being worked is a tooth, the working area is the tooth area in the mouth; if the object being worked is a joint, the working area is the joint area; if the object being worked is a bone, the working area is the bone surface area.

[0043] The working point refers to the point where the working tool works on the working area. For example, if the working area is the bone surface area, the working point is a point 20 mm away from the bone surface area; if the working area is the area inside the oral cavity, the working point is a point 10 mm away from the tooth area.

[0044] For easier understanding, see Figure 3 Schematic diagram of the spatial range of the preset space shown. Figure 3 The position of the robot base is traversed in the three directions of x, y, and z in the preset space shown. During the traversal process, different traversal intervals and step sizes are set, and when the robot base is at any current position, the first position data of the end tool on the robot arm is determined, thereby obtaining a series of first position data.

[0045] For example, in the process of traversing the position of the robot arm base, the initial traversal position is set to [0.757574, -0.45, -0.145858], and four traversal intervals and step sizes are set to obtain the first position pose data of the end tool on the robot arm. Among them, the first traversal interval is x=[-1,1]m, y=[-1,1]m, z=[-1,1]m, and the first step size is 0.2m, that is, the robot base is traversed in a larger space with a larger step size; the second traversal interval is x=[-0.4,0.6]m, y=[-0.8,0.2]m, z=[-0.8,0.8]m, and the second step size is 0.2m, that is, the traversal space is adjusted and traversed with a larger step size; the third traversal interval is x=[-0.3,0.6]m, y=[-0.9,0.2]m, z=[-0.7,0.8]m, and the third step size is 0.1m, that is, the robot base is traversed in a smaller space with a smaller step size; the fourth traversal interval is the same as the third traversal interval, only the step size is reduced to 0.05m, so that the robot base is traversed with a smaller step size.

[0046] In this embodiment, the method for determining the first pose data includes, but is not limited to, the following methods: obtaining the third pose data of the robotic arm base at the current position, and obtaining the pose transformation relationship between the robotic arm base and the end effector; determining the first pose data according to the third pose data and the pose transformation relationship.

[0047] Specifically, before the electronic device determines the working position of the robotic arm base, the pose relationship between the robotic arm base and the end effector is calibrated to obtain the pose transformation relationship between the robotic arm base and the end effector. When the electronic device determines the working position of the robotic arm base, when the robotic arm base is located at any current position, the electronic device obtains the third pose data and performs mathematical analysis on the third pose data and the pose transformation relationship to obtain the first pose data.

[0048] S220. Obtain the reachable positions of the end effector from the preset space according to the first pose data and the second pose data of the operation point.

[0049] It can be understood that reachability refers to the pose that the end effector on the robotic arm can reach the requirements of the operation area. Then, the reachability analysis of the end effector can be understood as analyzing whether the end effector on the robotic arm can reach the operation area. Based on this principle, for each current position in the preset space, the electronic device performs reachability analysis on the end effector according to the first pose data and the second pose data of the operation point, so as to obtain reachable positions from the preset space, so that when the robotic arm base is located at the reachable position, the end effector on the robotic arm can operate on the operation area without the problem that the end effector on the robotic arm cannot reach the operation area.

[0050] S230. Determine the flexibility index value corresponding to the reachable position.

[0051] In this embodiment, when the robotic arm base is located at each reachable position, the electronic device performs flexibility analysis on the end effector to determine the flexibility index value corresponding to the reachable position, so as to jointly determine the reachable position and the flexibility index value corresponding to the reachable position.

[0052] Among them, flexibility refers to the movement ability of the end effector on the robotic arm in the operation area. Optionally, flexibility can be characterized by index values such as manipulability, minimum singular value, condition number, local condition index, etc.

[0053] In this way, when the robotic arm base is located at each current position in the preset space, reachability analysis and flexibility analysis are performed on the end effector, so as to accurately analyze the reachable position and the flexibility index value corresponding to the reachable position.

[0054] S240. Determine the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions.

[0055] In this embodiment, the electronic device finds the target placement position from the preset space based on the coordinate data of all reachable positions and the flexibility index values corresponding to each reachable position to place the robotic arm base.

[0056] Among them, the target placement position is the optimal placement position of the robotic arm base when the reachability and flexibility of the end effector reach relatively good states simultaneously.

[0057] A method for determining the working position of a robotic arm base according to an embodiment of the present disclosure. This method is applied to an electronic device corresponding to the robotic arm base. The method includes: when the robotic arm base is at any current position in the preset space, determining the first pose data of the end effector on the robotic arm, where the preset space is a three-dimensional space determined with the operation points corresponding to the operation area as the center; obtaining the reachable positions of the end effector from the preset space according to the first pose data and the second pose data of the operation points; determining the flexibility index values corresponding to the reachable positions of the end effector; determining the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions. Thus, for the preset space determined with the center of the operation area as the center, when the robotic arm base is at any position in the preset space, the reachability analysis and flexibility analysis can be automatically performed by analyzing the first pose data of the end effector on the robotic arm and the second pose data of the operation points corresponding to the operation area, so as to determine the optimal position of the robotic arm base from multiple positions in the preset space as the target placement position. Therefore, the analysis accuracy of reachability and flexibility is improved, and ultimately it is beneficial to improve the operation effect of the end effector on the operation area.

[0058] In some embodiments of the present disclosure, the method further includes: when the operation area is an immovable area, controlling the robotic arm base to move to the target placement position.

[0059] It can be understood that when the operation area is an immovable area and the current position of the robotic arm base is not the target placement position, the electronic device can control the robotic arm base to move to the target placement position to achieve the effect of guiding the placement position of the robotic arm base.

[0060] In some embodiments of the present disclosure, the method further includes: obtaining the first height of the operation area relative to the ground and the second height of the operation point relative to the robotic arm base; calculating the height difference between the first height and the second height; determining the height of the workbench of the robotic arm base relative to the ground according to the height difference.

[0061] Specifically, in the world coordinate system based on the ground, the electronic device obtains the first height of the operation area relative to the ground, denoted as h1, and the second height of the operation point relative to the base of the robotic arm, denoted as h2. Then, the first height h1 is subtracted from the second height h2 to obtain the height difference h3 = h1 - h2, and the height difference h3 is directly used as the height of the workbench of the robotic arm base relative to the ground.

[0062] In this way, after determining the target placement position, it is also possible to use the first height of the operation area relative to the ground and the second height of the operation point relative to the base of the robotic arm to guide the design of the size of the workbench for installing the robotic arm base.

[0063] In some embodiments of the present disclosure, the method further includes: when the base of the robotic arm is a non-movable base, in the coordinate system centered on the target placement position, determining the target position of the center of the operation area; if the current position where the center of the operation area is located is not the target position of the center of the operation area, controlling the center of the operation area to move from the current position to the target position.

[0064] Specifically, when the base of the robotic arm is a non-movable base, first, a coordinate system is established centered on the target placement position. In this coordinate system, the target position of the center of the operation area is determined, denoted as (x1, y1, z1), and a cube with a specific side length (such as 0.2) m is constructed centered on (x1, y1, z1). This cube is regarded as the flexible reachable space of the end effector for the operation area. Then, it is determined whether the current position where the center of the operation area is located is the target position of the center of the operation area. The current position where the center of the operation area is located is denoted as (x2, y2, z2). If not, it means that the operation area is not adjusted properly. Then, based on the current position and the target position of the center of the operation area, the distance to be moved and the direction to be moved are determined. Next, based on the distance to be moved and the direction to be moved, the center of the operation area is controlled to move from the current position to the target position. Among them, the distance to be moved includes the distance in the x direction (x1 - x2), the distance in the y direction (y1 - y2), and the distance in the z direction (z1 - z2), and the direction to be moved includes sign(x1 - x2), sign(y1 - y2), sign(z1 - z2), and sign(*) is specifically the sign function.

[0065] In this way, when the base of the robotic arm is a non-movable base and the current position of the center of the operation area is not the target position, it is possible to guide the adjustment of the center of the operation area to move the operation area to the optimal position.

[0066] In another implementation manner of the present disclosure, S220 - S240 is specifically explained.

[0067] Figure 4 The flowchart shows another method for determining the working position of the robotic arm base provided by the embodiments of the present disclosure.

[0068] As Figure 4 shown, the method for determining the working position of the robotic arm base may specifically include the following steps.

[0069] S410. When the robotic arm base is at any current position in the preset space, determine the first pose data of the end effector on the robotic arm, where the preset space is a three-dimensional space determined with the operation points corresponding to the operation area as the center.

[0070] Among them, S410 is similar to S210 and will not be elaborated here.

[0071] S420. Starting from the first position in the preset space, for the current position in the preset space, if there is a solution when the first pose data and the second pose data are equal, then take the current position as the reachable position of the end effector until the current position is the last position in the preset space.

[0072] In this embodiment, the electronic device traverses starting from the first position in the preset space. When the robotic arm base is at the current position in the preset space, if there is a solution when the first pose data of the end effector on the robotic arm is equal to the second pose data of the operation point, it means that the current position is reachable, and the current position is taken as the reachable position. Then, the electronic device traverses to the next position, and when the robotic arm base is at the next position in the preset space, it determines whether the first pose data of the end effector on the robotic arm is equal to the second pose data of the operation point. If they are equal, it means that the next position is reachable, and the next position is taken as the reachable position. This cycle continues until the current position is the last position in the preset space and the traversal stops, obtaining all reachable positions.

[0073] It can be understood that in the preset space, the reachable space is composed of all the obtained reachable positions.

[0074] For ease of understanding, Figure 5 a display effect diagram of the reachable space in the preset space is shown, and each point in the reachable space is a reachable position.

[0075] In this way, traversing starting from the first position in the preset space to determine the reachable positions in the preset space improves the comprehensiveness and accuracy of determining the reachable positions.

[0076] S430. Obtain the joint angles corresponding to the reachable positions, calculate the flexibility of the joint angles corresponding to the reachable positions, and determine the flexibility index values corresponding to the reachable positions.

[0077] It is understandable that when the robotic arm base is at each reachable position, the robotic arm corresponds to a set of joint angles. Then, when the robotic arm base is at each reachable position, flexibility calculation is performed based on multiple sets of joint angles of the robotic arm to obtain the flexibility index value corresponding to each reachable position.

[0078] Optionally, for each reachable position, its corresponding flexibility index value can be determined in the following manner:

[0079]

[0080] Where θ is the joint angle, J(θ) is the Jacobian matrix when the joint angle is θ, det() represents taking the determinant, and V is the flexibility index value.

[0081] In practical situations, the above calculation method of the flexibility index value can specifically be used to calculate the manipulability. For other types of flexibility index values, new methods can be adopted for calculation. Here, one method is taken as an example for explanation.

[0082] In this way, after determining the reachable positions, flexibility analysis is performed based on the joint angles corresponding to each reachable position to determine the flexibility index value corresponding to each reachable position, improving the comprehensiveness and accuracy of the flexibility analysis.

[0083] S440. Determine the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions.

[0084] In this embodiment, the specific implementation method of S440 includes but is not limited to the following method: Determine the target placement position of the robotic arm base in the reachable space included in the preset space according to the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions.

[0085] It is understandable that the preset space includes the reachable space formed by all reachable positions. In the reachable space, each reachable position corresponds to a flexibility index value. In this embodiment, the reachable space is analogized to a mass body, each reachable position can be analogized to a mass point, the coordinate data of each reachable position is the coordinate data of the mass point, and the flexibility index value corresponding to each reachable position is analogized to the mass of the mass point. Then, in the reachable space, the target placement position of the robotic arm base is calculated according to the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions.

[0086] Optionally, the target placement position of the robotic arm base can be determined in the following manner:

[0087]

[0088] Where is the centroid coordinate of the reachable space, which is the target placement position of the robotic arm base, (x i , y i , z i ) is the coordinate data of any reachable position, V i is the flexibility index value corresponding to any reachable position, and n is the number of reachable positions in the reachable space.

[0089] Therefore, according to the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions, the target placement position of the robotic arm base is calculated. By analogy, the reachable space is regarded as a mass body, each reachable position can be analogized to a mass point, the flexibility index value corresponding to each reachable position is analogized to the mass of the mass point, and the centroid of the calculated mass body is used as the target placement position of the robotic arm base, ensuring that the surrounding points (including position and pose) are all points with relatively high flexibility index values (mass). The surrounding points can represent the points around the selected surgical pose, and there is no need to analyze all poses in the operation area.

[0090] For ease of understanding, Figure 6 shows another display effect diagram of the reachable space in the preset space. The black solid dots in the reachable space are the positions of the centroid of the reachable space, which is the target placement position of the robotic arm base.

[0091] In this way, after completing the reachability analysis and flexibility analysis, in the reachable space included in the preset space, combining the reachability analysis result and the flexibility analysis result, the centroid coordinate calculation method is used to determine the target placement position of the robotic arm base, improving the accuracy of determining the working position of the robotic arm base.

[0092] The embodiment of the present disclosure also provides a device for determining the working position of the robotic arm base for implementing the above method for determining the working position of the robotic arm base. This device is configured in the electronic device corresponding to the robotic arm base. The following is combined with Figure 7 for description. In the embodiment of the present disclosure, the device for determining the working position of the robotic arm base can be an electronic device. Among them, the electronic device can include devices with communication functions such as tablet computers, desktop computers, and laptop computers, or can also include devices simulated by virtual machines or simulators.

[0093] Figure 7 shows a schematic structural diagram of a device for determining the working position of a robotic arm base provided by an embodiment of the present disclosure.

[0094] As Figure 7 shown, the device 700 for determining the working position of the robotic arm base may include:

[0095] The first determination module 710 is configured to determine the first pose data of the end tool on the robotic arm when the robotic arm base is at any current position in the preset space, where the preset space is a three-dimensional space determined with the operation point corresponding to the operation area as the center;

[0096] The reachable position acquisition module 720 is configured to acquire the reachable positions of the end tool from the preset space according to the first pose data and the second pose data of the operation point;

[0097] The second determination module 730 is configured to determine the flexibility index value corresponding to the reachable position;

[0098] The third determination module 740 is configured to determine the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position.

[0099] A working position determination device for a robotic arm base according to an embodiment of the present disclosure. The device is configured in an electronic device corresponding to the robotic arm base. The device includes: when the robotic arm base is at any current position in the preset space, determining the first pose data of the end tool on the robotic arm, where the preset space is a three-dimensional space determined with the operation point corresponding to the operation area as the center; acquiring the reachable positions of the end tool from the preset space according to the first pose data and the second pose data of the operation point; determining the flexibility index value corresponding to the reachable position of the end tool; and determining the target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position. Thus, for the preset space determined with the center of the operation area as the center, when the robotic arm base is at any position in the preset space, it is possible to automatically perform reachability analysis and flexibility analysis by analyzing the first pose data of the end tool on the robotic arm and the second pose data of the operation point corresponding to the operation area, so as to determine the optimal position of the robotic arm base from multiple positions in the preset space as the target placement position. Therefore, the analysis accuracy of reachability and flexibility is improved, which ultimately helps to improve the operation effect of the end tool on the operation area.

[0100] In some embodiments of the present disclosure, the first determination module 710 includes:

[0101] The first acquisition unit is configured to acquire the third pose data of the robotic arm base at the current position and acquire the pose transformation relationship between the robotic arm base and the end tool;

[0102] The first determination unit is configured to determine the first pose data according to the third pose data and the pose transformation relationship.

[0103] In some embodiments of the present disclosure, the reachable position acquisition module 720 is specifically configured to:

[0104] Starting from the first position in the preset space, for the current position in the preset space, if there is a solution when the first pose data and the second pose data are equal, the current position is used as the reachable position of the end effector until the current position is the last position in the preset space.

[0105] In some embodiments of the present disclosure, the second determination module 730 includes:

[0106] A second acquisition unit, configured to acquire the joint angles corresponding to the reachable positions;

[0107] A second determination unit, configured to calculate the flexibility of the joint angles corresponding to the reachable positions and determine the flexibility index value corresponding to the reachable positions.

[0108] In some embodiments of the present disclosure, the third determination module 740 is specifically configured to:

[0109] According to the coordinate data of the reachable positions and the flexibility index values corresponding to the reachable positions, in the reachable space included in the preset space, determine the target placement position of the robot arm base.

[0110] In some embodiments of the present disclosure, the device further includes:

[0111] A first control module, configured to control the robot arm base to move to the target placement position when the operation area is an immovable area.

[0112] In some embodiments of the present disclosure, the device further includes:

[0113] A height acquisition module, configured to acquire the first height of the operation area relative to the ground and the second height of the operation point relative to the robot arm base;

[0114] A height calculation module, configured to calculate the height difference between the first height and the second height;

[0115] A height determination module, configured to determine the height of the workbench of the robot arm base relative to the ground according to the height difference.

[0116] In some embodiments of the present disclosure, the device further includes:

[0117] A fourth determination module, configured to determine the target position of the center of the operation area in a coordinate system centered on the target placement position when the robot arm base is an immovable base;

[0118] A second control module, configured to control the center of the operation area to move from the currently located position to the target position if the currently located position of the center of the operation area is not the target position of the center of the operation area.

[0119] It should be noted that Figure 7 the working position determination device 700 of the shown robotic arm base can execute Figures 2 to 6 each step in the method embodiment shown, and achieve Figures 2 to 6 each process and effect in the method embodiment shown, which will not be elaborated here.

[0120] Figure 8 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

[0121] As Figure 8 shown, the electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0122] Specifically, the above-mentioned processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0123] The memory 802 may include a mass storage for information or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 802 may include removable or non-removable (or fixed) media. In a suitable case, the memory 802 may be internal or external to the integrated gateway device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory. In a specific embodiment, the memory 802 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0124] The processor 801 reads and executes the computer program instructions stored in the memory 802 to perform the steps of the method for determining the working position of the robotic arm base provided in the embodiments of the present disclosure.

[0125] In one example, the electronic device may further include a transceiver 803 and a bus 804. Among them, as Figure 8 shown, the processor 801, the memory 802, and the transceiver 803 are connected through the bus 804 and complete communication with each other.

[0126] The bus 804 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. In a suitable case, the bus 804 may include one or more buses. Although the embodiments of the present application describe and illustrate a specific bus, the present application contemplates any suitable bus or interconnect.

[0127] The following are embodiments of a computer-readable storage medium provided by the embodiments of the present disclosure. The computer-readable storage medium and the method for determining the working position of the robotic arm base in the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiments of the computer-readable storage medium, reference may be made to the embodiments of the method for determining the working position of the robotic arm base.

[0128] This embodiment provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to execute a method for determining the working position of a robotic arm base, which is applied to an electronic device corresponding to the robotic arm base. The method includes:

[0129] When the robotic arm base is at any current position in a preset space, determine the first pose data of the end effector on the robotic arm. Here, the preset space is a three-dimensional space determined with the operation points corresponding to the operation area as the center;

[0130] According to the first pose data and the second pose data of the operation point, obtain the reachable positions of the end effector from the preset space;

[0131] Determine the flexibility index value corresponding to the reachable position;

[0132] Based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position, determine the target placement position of the robotic arm base from the preset space.

[0133] Of course, the computer-executable instructions of a storage medium containing computer-executable instructions provided by the embodiments of the present disclosure are not limited to the above method operations, and can also execute related operations in the method for determining the working position of the robotic arm base provided by any embodiment of the present disclosure.

[0134] From the above description of the embodiments, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, including several instructions for causing a computer cloud platform (which can be a personal computer, a server, or a network cloud platform, etc.) to execute the method for determining the working position of the robotic arm base provided by each embodiment of the present disclosure.

[0135] Note that the above is only a preferred embodiment of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A method for determining the working position of a robot arm base, characterized in that: Applied to the electronic device corresponding to the robot arm base, the method comprises: When the robot arm base is located at any current position in a preset space, determining the first position pose data of the end tool on the robot arm, wherein the preset space is a three-dimensional space determined with the working point corresponding to the working area as the center; Acquire a reachable position of the end tool from the preset space according to the first posture data and the second posture data of the working point; Determining a flexibility index value corresponding to the reachable position; Based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position, determine the target placement position of the robot base from the preset space, wherein the target placement position of the robot base is the centroid coordinate of the reachable space, and the reachable space is constructed by all the reachable positions in the preset space; The target placement position of the robotic arm base is determined by: ， ， in, is the center of mass coordinate of the reachable space, i.e., the target placement position of the robot base, is the coordinate data of any of the reachable locations, is the flexibility index value corresponding to any of the reachable locations, is the number of reachable locations in the reachable space; Wherein, the determining of the first position data of the end tool on the robot arm includes: Acquire the third posture data of the robot arm base at the current position, and acquire the posture transformation relationship between the robot arm base and the end tool; Determine the first posture data according to the third posture data and the posture transformation relationship; Wherein, acquiring the reachable position of the end tool from the preset space according to the first posture data and the second posture data of the work point includes: Starting from the first position in the preset space, for the current position in the preset space, if there is a solution when the first posture data and the second posture data are equal, the current position is used as the reachable position of the end tool until the current position is the last position in the preset space.

2. The method according to claim 1, characterized in that The determining the flexibility index value corresponding to the reachable position includes: Obtaining the joint angle corresponding to the reachable position; The flexibility of the joint angle corresponding to the reachable position is calculated to determine the flexibility index value corresponding to the reachable position.

3. The method according to claim 1, characterized in that Also includes: When the operation area is an immovable area, the robot arm base is controlled to move to the target placement position.

4. The method according to claim 1, characterized in that: Also includes: Obtaining a first height of the working area relative to the ground and a second height of the working point relative to a base of the robot arm; calculating a height difference between the first height and the second height; The height of the working platform of the robot arm base relative to the ground is determined according to the height difference.

5. The method according to claim 1, characterized in that Also includes: When the robot arm base is a non-movable base, determining a target position of the center of the working area in a coordinate system centered on the target placement position; If the current position of the center of the working area is not the target position of the center of the working area, the center of the working area is controlled to move from the current position to the target position.

6. A working position determination device for a robot arm base, characterized in that: An electronic device is configured corresponding to the base of the mechanical arm, and the device includes: A first determination module is used to determine the first position data of the end tool on the robot arm when the robot arm base is located at any current position in a preset space, wherein the preset space is a three-dimensional space determined with the working point corresponding to the working area as the center; A reachable position acquisition module, used for acquiring a reachable position of the end tool from the preset space according to the first posture data and the second posture data of the working point; A second determination module is used to determine the flexibility index value corresponding to the reachable position; a third determination module, configured to determine a target placement position of the robotic arm base from the preset space based on the coordinate data of the reachable position and the flexibility index value corresponding to the reachable position, wherein the target placement position of the robotic arm base is the centroid coordinate of the reachable space, and the reachable space is constructed by all the reachable positions in the preset space; The target placement position of the robotic arm base is determined by: ， ， in, is the center of mass coordinate of the reachable space, i.e., the target placement position of the robot base, is the coordinate data of any of the reachable locations, is the flexibility index value corresponding to any of the reachable locations, is the number of reachable locations in the reachable space; Wherein, the determining of the first position data of the end tool on the robot arm includes: Acquire the third posture data of the robot arm base at the current position, and acquire the posture transformation relationship between the robot arm base and the end tool; Determine the first posture data according to the third posture data and the posture transformation relationship; Wherein, acquiring the reachable position of the end tool from the preset space according to the first posture data and the second posture data of the work point includes: Starting from the first position in the preset space, for the current position in the preset space, if there is a solution when the first posture data and the second posture data are equal, the current position is used as the reachable position of the end tool until the current position is the last position in the preset space.

7. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 5.

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