Joint motor control method and device, robot and storage medium

Abstract

The present disclosure relates to a joint motor control method and device, a robot and a storage medium. The method comprises: tracking a desired joint torque to obtain a tracking value of an actual joint torque, and obtaining a first estimated value and a second estimated value according to an actual joint torque fed back by a joint motor, wherein the first estimated value is used to represent an estimated value of the actual joint torque, and the second estimated value is used to represent an estimated value of a system disturbance; determining a quadrature-axis control voltage according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and controlling the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, specifically to a joint motor control method, device, robot, and storage medium. Background Technology

[0002] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. Bionic robots have multiple joints, each equipped with a joint motor. These joint motors drive relative movement between the parts on either side of the joint, enabling the robot to perform various actions. However, in related technologies, the robot's joint motors are susceptible to system disturbances during control, resulting in lower control precision and preventing the robot from performing more complex movements. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a joint motor control method, device, robot, and storage medium to solve the defects in the related technologies.

[0004] According to a first aspect of the present disclosure, a joint motor control method is provided, the method comprising:

[0005] The desired joint torque is tracked to obtain the actual tracked value of the joint torque;

[0006] A first estimate and a second estimate are obtained based on the actual joint torque fed back by the joint motor, wherein the first estimate is used to characterize the estimated value of the actual joint torque, and the second estimate is used to characterize the estimated value of the system disturbance.

[0007] Based on the actual joint torque tracking value, the first estimated value, and the second estimated value, the quadrature axis control voltage is determined, and the joint motor is controlled to move according to the quadrature axis control voltage and the preset direct axis control current.

[0008] In one possible embodiment of this disclosure, determining the quadrature control voltage based on the tracking value of the actual joint torque, the first estimated value, and the second estimated value includes:

[0009] Based on the actual joint torque tracking value and the first estimated value, the voltage containing the disturbance is determined;

[0010] The quadrature axis control voltage is determined based on the disturbance voltage and the second estimated value.

[0011] In one possible embodiment of this disclosure, it further includes:

[0012] The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

[0013] In one possible embodiment of this disclosure, determining the desired joint torque based on the desired joint state and the actual joint state in the motion control command includes:

[0014] The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0015] In one possible embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0016] The actual joint state includes the actual joint position and the actual joint velocity.

[0017] In one possible embodiment of this disclosure, controlling the joint motor to move according to the quadrature axis control voltage and the preset direct axis control current includes:

[0018] The direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller;

[0019] The joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

[0020] In one possible embodiment of this disclosure, the method further includes:

[0021] The actual joint state, the actual joint torque, and the actual direct shaft current fed back by the joint motor are obtained.

[0022] According to a second aspect of the present disclosure, a joint motor control device is provided, the device comprising:

[0023] The tracking module is used to track the desired joint torque and obtain the tracked value of the actual joint torque.

[0024] An estimation module is used to obtain a first estimate and a second estimate based on the actual joint torque fed back by the joint motor, wherein the first estimate is used to characterize the estimated value of the actual joint torque, and the second estimate is used to characterize the estimated value of the system disturbance.

[0025] The motion module is used to determine the quadrature axis control voltage based on the actual joint torque tracking value, the first estimated value, and the second estimated value, and to control the joint motor to move based on the quadrature axis control voltage and the preset direct axis control current.

[0026] In one possible embodiment of this disclosure, the motion module is used for:

[0027] Based on the actual joint torque tracking value and the first estimated value, the voltage containing the disturbance is determined;

[0028] The quadrature axis control voltage is determined based on the disturbance voltage and the second estimated value.

[0029] In one possible embodiment of this disclosure, the device further includes a torque module, the device torque module being used for:

[0030] The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

[0031] In one possible embodiment of this disclosure, the torque module is used for:

[0032] The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0033] In one possible embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0034] The actual joint state includes the actual joint position and the actual joint velocity.

[0035] In one possible embodiment of this disclosure, the motion module is used for:

[0036] The direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller;

[0037] The joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

[0038] In one possible embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0039] The actual joint state, the actual joint torque, and the actual direct shaft current fed back by the joint motor are obtained.

[0040] According to a third aspect of the present disclosure, a robot is provided, the robot including a memory and a processor, the memory being used to store computer instructions executable on the processor, and the processor being used to implement the joint motor control method of the first aspect when executing the computer instructions.

[0041] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0042] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0043] The joint motor control method provided in this disclosure first tracks the desired joint torque to obtain the tracked value of the actual joint torque. Then, based on the actual joint torque fed back by the joint motor, a first estimate and a second estimate are obtained. Finally, based on the tracked value of the actual joint torque, the first estimate, and the second estimate, a quadrature-axis control voltage is determined. The joint motor is then controlled to move based on the quadrature-axis control voltage and a preset direct-axis control current. Because this method evaluates the estimated value of the actual joint torque and the estimated value of the system disturbance, and combines these two estimates with the tracked value of the desired joint torque to determine the quadrature-axis control voltage, it improves the anti-interference capability of the motor control, thereby increasing the control precision and accuracy of the motor and ultimately improving the complexity of the robot's movements. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of the present disclosure;

[0046] Figure 2 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of the present disclosure;

[0047] Figure 3 This is a schematic diagram of a torque loop active disturbance rejection control framework illustrated in an exemplary embodiment of this disclosure;

[0048] Figure 4 This is a schematic diagram of the structure of a joint motor control device shown in an exemplary embodiment of the present disclosure;

[0049] Figure 5 This is a structural block diagram of a robot illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0051] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0052] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0053] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. Bionic robots have multiple joints, each equipped with a joint motor. These joint motors drive relative movement between the parts on either side of the joint, enabling the robot to perform various actions. However, in related technologies, the robot's joint motors are susceptible to system disturbances during control, resulting in lower control precision and preventing the robot from performing more complex movements.

[0054] Based on this, in a first aspect, at least one embodiment of this disclosure provides a joint motor control method, please refer to the appendix. Figure 1 It illustrates the process of the method, including steps S101 to S103.

[0055] This method can be applied to robots, such as bipedal or quadrupedal robots. The robot has multiple joints, each equipped with a joint motor. This method can be applied to each joint motor of the robot, that is, to drive the joint motor to move in order to complete the desired joint state obtained by the upper-level motion control based on the desired action.

[0056] In step S101, the desired joint torque is tracked to obtain the tracked value of the actual joint torque.

[0057] Among them, joint torque is the torque of the joint motor, desired joint torque refers to the torque that the joint motor is expected to achieve, and actual joint torque refers to the actual torque achieved by the joint motor.

[0058] Specifically, the desired joint torque can be determined in advance based on the desired joint state and the actual joint state in the motion control command as follows: the desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0059] The desired joint state can be the desired state of the joint controlled by this method, determined by the desired action based on the upper-level motion control. The joint motor can feed back the joint state at a certain frequency during movement; this state is recorded as the actual joint state. Therefore, the actual joint state fed back by the joint motor can be obtained before executing this step. For example, the desired joint state includes the desired joint position and the desired joint speed, and the actual joint state includes the actual joint position and the actual joint speed. A position error can be determined based on the desired joint position and the actual joint position, and a speed error can be determined based on the desired joint speed and the actual joint speed. Then, the position error and speed error are input to the impedance controller. The impedance controller can determine the desired joint torque based on the position error and speed error, combined with its internal parameters and feedforward torque, etc.

[0060] For example, the desired joint torque is input to a tracking differentiator to obtain the tracked value of the actual joint torque output by the tracking differentiator. The tracking differentiator (TD) can be a first-order or multi-order tracking differentiator. For example, see attached... Figure 3 In the torque loop active disturbance rejection control framework shown, which consists of a first-order tracking differentiator (first-order TD), an extended state observer (second-order ESO), and a nonlinear feedback controller (NLSEF), the first-order tracking differentiator is shown in Equation 1 below:

[0061]

[0062] In the formula, ν1 is the tracking value, v is the state variable (when applied to this step, the state variable is the desired joint torque), r, α0, and δ0 are adjustable parameters, and 0≤α0≤1, δ0>0, and fal(ε0,α0,δ0) is a nonlinear function, defined as follows:

[0063]

[0064] In step S102, a first estimate and a second estimate are obtained based on the actual joint torque fed back by the joint motor. The first estimate characterizes the estimated value of the actual joint torque, and the second estimate characterizes the estimated value of the system disturbance. As an example, the actual joint torque can be input to an extended state observer to obtain the first and second estimates output by the extended state observer.

[0065] Optionally, the actual joint torque fed back by the joint motor can be obtained before performing this step.

[0066] The torque equation on the dq coordinate axis (i.e., the coordinate system composed of the direct axis and the quadrature axis of the armature winding) is as follows: Equation 1:

[0067]

[0068] In the formula, T e n is the torque of the joint motor. p Let ψ be the extreme logarithm. f For permanent magnet flux linkage, L d For a direct-axis inductor, L q For quadrature axis inductance, i d For direct-axis current, i q It is the quadrature-axis current.

[0069] According to Equation 1 above, the motor torque T e and cross-axis current i q The relationship between them can be expressed as a first-order nonlinear function as shown in Equation 2 below:

[0070]

[0071] In the formula, b is a system parameter.

[0072] The differential of the quadrature-axis current has a relative relationship with the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage as shown in Equation 3 below.

[0073]

[0074] In the formula, U q For quadrature axis voltage, R s ω is the motor resistance. r This refers to the motor speed;

[0075] Substituting equation 3 into equation 2, we obtain equation 4:

[0076]

[0077] In the formula, b3 is the control gain, and f3(x) is the system disturbance.

[0078] Based on equations 1 to 4 above, an extended state observer can be constructed as shown in the following equation:

[0079]

[0080] In the formula, z1 is the actual joint torque T. e The estimated value of z2 is the estimated value of the system disturbance f3(x), β1 and β2 are the adjustable parameters of the extended state observer, α1 and δ1 are adjustable parameters, and 0≤α1≤1,δ1>0, fal(ε1,α1,δ1) is a nonlinear function, defined as follows:

[0081]

[0082] This step is based on the extended state observer described above. In this step, the actual joint torque and the quadrature axis control voltage determined by this method can be used as the input of the extended state observer, and the estimated value z1 of the actual joint torque and the estimated value z2 of the system disturbance can be used as the output to run the extended state observer in feedback mode to obtain the first estimated value z1 and the second estimated value z2 of the output.

[0083] In step S103, the quadrature axis control voltage is determined based on the actual joint torque tracking value, the first estimated value, and the second estimated value, and the joint motor is controlled to move based on the quadrature axis control voltage and the preset direct axis control current.

[0084] Wherein, the quadrature-axis control voltage is the desired voltage value to be achieved on the quadrature axis of the armature winding. The direct-axis control current is the desired current value to be achieved on the direct axis of the armature winding.

[0085] For example, firstly, based on the tracked value of the actual joint torque and the first estimated value, a disturbance-inclusive voltage is determined; next, based on the disturbance-inclusive voltage and the second estimated value, the quadrature-axis control voltage is determined. That is, a nonlinear feedback control law (NLSEF) can be designed as follows to determine the quadrature-axis control voltage:

[0086]

[0087] Among them, U q This is the quadrature-axis control voltage, which serves as both the output and the input to the extended state observer in the form of feedback. u0 is the voltage containing the disturbance, β3, α2, and δ2 are adjustable parameters, where 0 ≤ α2 ≤ 1 and δ2 > 0. fal(ε2, α2, δ2) is a nonlinear function, defined as follows:

[0088]

[0089] As another example, the joint motor can be controlled to move according to the quadrature axis control voltage and a preset direct axis control current (e.g., preset to 0) in the following manner:

[0090] First, the direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller. The direct-axis control current is the desired current value (e.g., 0) on the direct axis of the armature winding. Before this step, the actual direct-axis current fed back by the articulated motor can be obtained; the actual direct-axis current is the actual current value on the direct axis of the armature winding. The direct-axis control voltage is the desired voltage value on the direct axis of the armature winding.

[0091] Next, the joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

[0092] Please refer to the appendix. Figure 2 and attached Figure 3 , Figure 2 An exemplary flowchart of the joint motor control method obtained by combining the above embodiments is shown. Figure 3 It shows Figure 2 The structure of the torque loop active disturbance rejection control framework (ALRFC) consists of a first-order tracking differentiator (TD), an extended state observer (ESO), and a nonlinear feedback controller (NLSEF). The upper-level motion control sends the desired joint position θ. d Expected joint velocity v d Impedance controller parameter K p K d and feedback torque τ ff By combining the actual joint position θ and actual joint velocity v fed back by the joint motor, the desired joint torque is obtained through an impedance controller. The actual joint torque T fed back by the torque sensor e through Figure 3 The torque loop active disturbance rejection control framework shown in the figure obtains the quadrature axis control voltage U. q Meanwhile, the quadrature axis control voltage U q The feedback mode is also used as the input to the aforementioned torque loop active disturbance rejection control framework. (Preset) (For example, 0) Combined with the actual direct-axis current i fed back by the joint motor d The direct-axis control voltage U is obtained through the direct-axis current loop controller. d U q and U d The three-phase voltage obtained through pulse width modulation is used to drive the motor through the inverter.

[0093] The joint motor control method provided in this disclosure first tracks the desired joint torque to obtain the tracked value of the actual joint torque. Then, based on the actual joint torque fed back by the joint motor, a first estimate and a second estimate are obtained. Finally, based on the tracked value of the actual joint torque, the first estimate, and the second estimate, a quadrature-axis control voltage is determined. The joint motor is then controlled to move based on the quadrature-axis control voltage and a preset direct-axis control current. Because this method evaluates the estimated value of the actual joint torque and the estimated value of the system disturbance, and combines these two estimates with the tracked value of the desired joint torque to determine the quadrature-axis control voltage, it improves the anti-interference capability of the motor control, thereby increasing the control precision and accuracy of the motor and ultimately improving the complexity of the robot's movements.

[0094] Compared to traditional hierarchical control of torque loops, this method adjusts the output of the torque loop control framework to the quadrature axis control voltage through model transformation, which simplifies control design, reduces the parameters of the control framework, and alleviates the burden of debugging and maintenance. Moreover, the torque loop control framework in this method has self-disturbance rejection capability, ensuring the robustness of torque control, thereby ensuring the stability of the controller under complex operating conditions.

[0095] According to a second aspect of the embodiments of this disclosure, a joint motor control device is provided; please refer to the appendix. Figure 4 The device includes:

[0096] The tracking module 401 is used to track the desired joint torque and obtain the tracking value of the actual joint torque.

[0097] The estimation module 402 is used to obtain a first estimate and a second estimate based on the actual joint torque fed back by the joint motor, wherein the first estimate is used to characterize the estimated value of the actual joint torque, and the second estimate is used to characterize the estimated value of the system disturbance.

[0098] The motion module 403 is used to determine the quadrature axis control voltage based on the actual joint torque tracking value, the first estimated value, and the second estimated value, and to control the joint motor to move based on the quadrature axis control voltage and the preset direct axis control current.

[0099] In one possible embodiment of this disclosure, the motion module is used for:

[0100] Based on the actual joint torque tracking value and the first estimated value, the voltage containing the disturbance is determined;

[0101] The quadrature axis control voltage is determined based on the disturbance voltage and the second estimated value.

[0102] In one possible embodiment of this disclosure, the device further includes a torque module, the device torque module being used for:

[0103] The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

[0104] In one possible embodiment of this disclosure, the torque module is used for:

[0105] The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0106] In one possible embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0107] The actual joint state includes the actual joint position and the actual joint velocity.

[0108] In one possible embodiment of this disclosure, the motion module is used for:

[0109] The direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller;

[0110] The joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

[0111] In one possible embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0112] The actual joint state, the actual joint torque, and the actual direct-axis current fed back by the joint motor are obtained.

[0113] Thirdly, at least one embodiment of this disclosure provides a robot, please refer to the appendix. Figure 5 The diagram illustrates the structure of the robot, which includes a memory and a processor. The memory stores computer instructions that can run on the processor, and the processor controls the joint motors based on the method described in any of the first aspects when executing the computer instructions.

[0114] Fourthly, at least one embodiment of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the first aspects.

[0115] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0116] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A joint motor control method, characterized in that, The method includes: The desired joint torque is input into the tracking differentiator to obtain the tracking value of the actual joint torque output by the tracking differentiator; The actual joint torque fed back by the joint motor is input to the extended state observer to obtain a first estimate and a second estimate output by the extended state observer. The first estimate is used to characterize the estimated value of the actual joint torque, and the second estimate is used to characterize the estimated value of the system disturbance. The actual joint torque tracking value, the first estimated value, and the second estimated value are input to the torque loop nonlinear feedback controller to obtain the quadrature axis control voltage output by the torque loop nonlinear feedback controller. Based on the quadrature axis control voltage and the preset direct axis control current, the joint motor is controlled to move.

2. The joint motor control method according to claim 1, characterized in that, The step of determining the quadrature control voltage based on the actual joint torque tracking value, the first estimated value, and the second estimated value includes: Based on the actual joint torque tracking value and the first estimated value, the voltage containing the disturbance is determined; The quadrature axis control voltage is determined based on the disturbance voltage and the second estimated value.

3. The joint motor control method according to claim 1, characterized in that, Also includes: The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

4. The joint motor control method according to claim 3, characterized in that, The step of determining the desired joint torque based on the desired joint state and the actual joint state in the motion control command includes: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

5. The joint motor control method according to claim 3, characterized in that, The desired joint state includes the desired joint position and the desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

6. The joint motor control method according to claim 1, characterized in that, The step of controlling the joint motor to move according to the quadrature axis control voltage and the preset direct axis control current includes: The direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller; The joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

7. The joint motor control method according to claim 6, characterized in that, The method further includes: The actual joint state, the actual joint torque, and the actual direct shaft current fed back by the joint motor are obtained.

8. A joint motor control device, characterized in that, The device includes: The tracking module is used to input the desired joint torque into the tracking differentiator to obtain the tracking value of the actual joint torque output by the tracking differentiator; An estimation module is used to input the actual joint torque fed back by the joint motor to an extended state observer to obtain a first estimate and a second estimate output by the extended state observer. The first estimate is used to characterize the estimated value of the actual joint torque, and the second estimate is used to characterize the estimated value of the system disturbance. The motion module is used to input the actual joint torque tracking value, the first estimated value, and the second estimated value to the torque loop nonlinear feedback controller to obtain the quadrature axis control voltage output by the torque loop nonlinear feedback controller, and control the joint motor to move according to the quadrature axis control voltage and the preset direct axis control current.

9. The joint motor control device according to claim 8, characterized in that, The motion module is used for: Based on the actual joint torque tracking value and the first estimated value, the voltage containing the disturbance is determined; The quadrature axis control voltage is determined based on the disturbance voltage and the second estimated value.

10. The joint motor control device according to claim 8, characterized in that, The device further includes a torque module, which is used for: The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

11. The joint motor control device according to claim 10, characterized in that, The torque module is used for: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

12. The joint motor control device according to claim 10, characterized in that, The desired joint state includes the desired joint position and the desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

13. The joint motor control device according to claim 8, characterized in that, The motion module is used for: The direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller; The joint motor is driven to move according to the quadrature axis control voltage and the direct axis control voltage.

14. The joint motor control device according to claim 13, characterized in that, The device further includes an acquisition module, the acquisition module being used for: The actual joint state, the actual joint torque, and the actual direct shaft current fed back by the joint motor are obtained.

15. A robot, characterized in that, The robot includes a memory and a processor. The memory is used to store computer instructions that can be executed on the processor. The processor is used to implement the joint motor control method of any one of claims 1 to 7 when executing the computer instructions.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method of any one of claims 1 to 7.

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