Joint motor control method and device, robot and storage medium

Abstract

The invention relates to a joint motor control method and device, a robot and a storage medium, and the method comprises the steps: determining a disturbance-containing current according to an expected joint torque and an actual joint torque; determining system disturbance according to the actual joint state; and determining a quadrature-axis control current according to the disturbance-containing current and the system disturbance, and controlling the joint motor to move according to the quadrature-axis control current and a preset direct-axis control current.

Description

Technical Field

[0001] The present disclosure relates to the technical field, and in particular to a joint motor control method, device, robot and storage medium. Background Art

[0002] In recent years, the technology of robotics has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Bionic robots have multiple joints, each of which has a joint motor. The joint motor can drive the parts on both sides of the joint to move relative to each other. The robot relies on the movement of these joint motors to enable the robot to complete various actions. However, in the related technology, the joint motor of the robot is subject to system disturbance during control, resulting in low control accuracy, making it impossible for the robot to complete more complex actions. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the embodiments of the present disclosure provide a joint motor control method, device, robot and storage medium to solve the defects in the related art.

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

[0005] Determine the disturbance current according to the expected joint torque and the actual joint torque;

[0006] According to the actual joint state, the system disturbance is determined;

[0007] The quadrature-axis control current is determined according to the disturbance-containing current and the system disturbance, and the joint motor is controlled to move according to the quadrature-axis control current and a preset direct-axis control current.

[0008] In a possible embodiment of the present disclosure, determining the quadrature-axis control current according to the disturbance-containing current and the system disturbance includes:

[0009] The difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

[0010] In a possible embodiment of the present disclosure, determining the quadrature-axis control current according to the disturbance-containing current and the system disturbance includes:

[0011] The difference between the disturbance-containing current and the system disturbance is filtered for vibration frequency to obtain the quadrature-axis control current.

[0012] In a possible embodiment of the present disclosure, determining the disturbance current according to the expected joint torque and the actual joint torque includes:

[0013] The desired joint torque and the actual joint torque are input into a torque loop controller to obtain a disturbance-containing current output by the torque loop controller.

[0014] In a possible embodiment of the present disclosure, the method further includes:

[0015] The desired joint state and the actual joint state are input into the impedance controller to obtain the desired joint torque output by the impedance controller.

[0016] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0017] The actual joint state includes an actual joint position and an actual joint velocity.

[0018] In a possible embodiment of the present disclosure, controlling the joint motor to move according to the quadrature-axis control current and the preset direct-axis control current includes:

[0019] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0020] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0021] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0022] In a possible embodiment of the present disclosure, the method further includes:

[0023] The actual joint state, actual joint torque, actual quadrature-axis current and actual direct-axis current fed back by the joint motor are obtained.

[0024] According to a second aspect of an embodiment of the present disclosure, a joint motor control device is provided, the device comprising:

[0025] A current module is used to determine a disturbance-containing current according to a desired joint torque and an actual joint torque;

[0026] The disturbance module is used to determine the system disturbance according to the actual joint state;

[0027] The motion module is used to determine the quadrature-axis control current according to the disturbance-containing current and the system disturbance, and to control the joint motor to move according to the quadrature-axis control current and a preset direct-axis control current.

[0028] In a possible embodiment of the present disclosure, when the motion module is used to determine the quadrature-axis control current according to the disturbance-containing current and the system disturbance, it is specifically used to:

[0029] The difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

[0030] In a possible embodiment of the present disclosure, when the motion module is used to determine the quadrature-axis control current according to the disturbance-containing current and the system disturbance, it is specifically used to:

[0031] The difference between the disturbance-containing current and the system disturbance is filtered for vibration frequency to obtain the quadrature-axis control current.

[0032] In a possible embodiment of the present disclosure, the current module is used for:

[0033] The desired joint torque and the actual joint torque are input into a torque loop controller to obtain a disturbance-containing current output by the torque loop controller.

[0034] In a possible embodiment of the present disclosure, the device further includes an impedance module, which is used to:

[0035] The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

[0036] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0037] The actual joint state includes an actual joint position and an actual joint velocity.

[0038] In a possible embodiment of the present disclosure, the motion module is used to control the joint motor to move according to the quadrature-axis control current and the preset direct-axis control current, specifically for:

[0039] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0040] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0041] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0042] In a possible embodiment of the present disclosure, the device further includes an acquisition module, which is used to:

[0043] The actual joint state, actual joint torque, actual quadrature-axis current and actual direct-axis current fed back by the joint motor are obtained.

[0044] According to a third aspect of an embodiment of the present disclosure, a robot is provided, comprising a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the joint motor control method described in the first aspect when executing the computer instructions.

[0045] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0046] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0047] The joint motor control method provided by the embodiment of the present disclosure first determines the disturbance current according to the expected joint torque and the actual joint torque; then determines the system disturbance according to the actual joint state; finally determines the quadrature axis control current according to the disturbance current and the system disturbance, and controls the joint motor to move according to the quadrature axis control current and the preset direct axis control current. Since the method evaluates the system disturbance according to the actual joint state, and determines the quadrature axis control current based on the disturbance current combined with the system disturbance, the precision and accuracy of the quadrature axis control current are improved, so that the control precision and accuracy of the motor are improved, and the complexity of the robot's movement is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0049] Figure 1 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0050] Figure 2 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0051] Figure 3 is a structural schematic diagram of a joint motor control device shown in an exemplary embodiment of the present disclosure;

[0052] Figure 4 It is a structural block diagram of a robot shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0054] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0056] In recent years, the technology of robotics has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Bionic robots have multiple joints, each of which has a joint motor. The joint motor can drive the parts on both sides of the joint to move relative to each other. The robot relies on the movement of these joint motors to enable the robot to complete various actions. However, in the related technology, the joint motor of the robot is subject to system disturbance during control, resulting in low control accuracy, making it impossible for the robot to complete more complex actions.

[0057] Based on this, in the first aspect, at least one embodiment of the present disclosure provides a joint motor control method, please refer to the attached Figure 1 , which shows the process of the method, including steps S101 to S103.

[0058] Among them, the method can be applied to robots, for example, to legged robots such as bipedal robots or quadrupedal robots; the robot has multiple joints, each joint is provided with a joint motor, and the method can be applied to each joint motor of the robot, that is, the method is used to drive the joint motor to move, so as to complete the desired joint state obtained by the upper-level operation and control according to the desired action.

[0059] In step S101 , a disturbance current is determined according to the expected joint torque and the actual joint torque.

[0060] The expected joint torque may be determined in advance in the following manner: the expected joint state and the actual joint state are input into an impedance controller to obtain the expected joint torque output by the impedance controller.

[0061] The expected joint state can be the expected state of the joint controlled by the method determined by the upper-level operation control according to the expected action of the robot. The joint motor can feedback the joint state at a certain frequency when moving, and the state is recorded as the actual joint state, so the actual joint state fed back by the joint motor can be obtained before executing this step. Exemplarily, the expected joint state includes the expected joint position and the expected joint speed, and the actual joint state includes the actual joint position and the actual joint speed. The position error can be determined according to the expected joint position and the actual joint position, and the speed error can be determined according to the expected joint speed and the actual joint speed, and then the position error and the speed error are input into the impedance controller; the impedance controller can determine the expected joint torque based on the position error and the speed error, combined with its internal parameters and feedforward torque, etc.

[0062] Optionally, the actual joint torque fed back by the joint motor may be obtained before executing this step.

[0063] Exemplarily, in this step, the desired joint torque and the actual joint torque can be input into the torque loop controller to obtain the disturbance-containing current output by the torque loop controller. The torque loop controller can be used to track and control the error between the desired joint torque and the actual joint torque. For example, the torque loop controller can adopt a PI control strategy, and the output of the PI controller can be expressed as:

[0064] u T (t) = K P e t (t)+∫K I e t (t)dt

[0065] In the formula, u T (t) is the disturbance current, e t (t) is the error between the expected joint torque and the actual joint torque, K P and K I is the system parameter.

[0066] In step S102, the system disturbance is determined according to the actual joint state.

[0067] The motion control process of the joint motor will be affected by system instability factors, which can be collectively called system disturbances, such as unstable motor power supply.

[0068] Motor torque T e and the quadrature axis current i q The relationship between can be expressed as the following first-order nonlinear function:

[0069]

[0070] In the above formula, b is the system parameter and f(x) is the total disturbance of the system.

[0071] Based on the above first-order nonlinear function, an extended state observer can be constructed as shown in the following formula:

[0072]

[0073] Where e is the moment estimation error, z1 is the moment T e , z2 is the estimated value of the total disturbance f(x) of the system, β1, β2 are the adjustable parameters of the extended state observer, and fal(e, α, δ) is a nonlinear function defined as follows:

[0074]

[0075] In the formula, 0≤α≤1, δ>0, β1>0, β2>0.

[0076] Based on the expanded state observer constructed as above, in this step, the actual state of the joint and the cross-axis control current determined by this method can be used as the input of the expanded state observer, and the estimated value z2 of the total system disturbance can be used as the output to run the expanded state observer in feedback mode to obtain the output z2 as the system disturbance in this step.

[0077] In step S103, a quadrature-axis control current is determined according to the disturbance-containing current and the system disturbance, and the joint motor is controlled to move according to the quadrature-axis control current and a preset direct-axis control current.

[0078] The quadrature-axis control current is the current value expected to be achieved on the quadrature axis of the armature winding; and the direct-axis control current is the current value expected to be achieved on the direct axis of the armature winding.

[0079] Exemplarily, the quadrature-axis control current may be determined according to the disturbance-containing current and the system disturbance in the following manner: a difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

[0080] As another example, the joint motor will also be affected by vibration during the motion control process, and the vibration will cause physical safety hazards to the motor. Therefore, the vibration can be filtered in this step, that is, the difference between the disturbance current and the system disturbance is filtered for the vibration frequency to obtain the quadrature axis control current; for example, a second-order IIR notch filter is used for the above filtering process.

[0081] The transfer function of the second-order IIR notch filter is shown in Equation 1 below:

[0082]

[0083] Where s is the frequency domain, ω n is the resonant frequency operating point, k is the system parameter;

[0084] In order to facilitate the adjustment of the center frequency, notch bandwidth and notch depth of the notch filter, the above formula 1 can be improved to obtain the transfer function represented by the following formula 2:

[0085]

[0086] Where s is the frequency domain, k1 and k2 are system parameters, and the notch filter is at the resonant frequency ω n The amplitude gain A at G and bandwidth B G They are:

[0087]

[0088]

[0089] Discretize the above formula 2 to obtain the discretization formula of the notch filter as follows:

[0090] y(n)=b0x(n)+b1x(n-1)+b2x(n-2)-a1y(n-1)-a2y(n-2)

[0091] The coefficients in the formula are as follows:

[0092] T is the sampling period.

[0093] In this example, the quadrature-axis control current can be determined using the following formula:

[0094]

[0095] Where s is the frequency domain, is the quadrature axis control current, G(s) is the filter transfer function, u T is the disturbance current, z2 is the system disturbance, and b is the parameter in the extended state observer.

[0096] As another example, the joint motor may be controlled to move according to the quadrature-axis control current and a preset direct-axis control current (for example, preset to 0) in the following manner:

[0097] First, the quadrature-axis control current and the quadrature-axis actual current are input into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller, wherein the quadrature-axis actual current fed back by the joint motor can be obtained before this step.

[0098] Next, the direct-axis control current and the direct-axis actual current are input into the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller, wherein the direct-axis actual current fed back by the joint motor can be obtained before this step.

[0099] Finally, the joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0100] Please refer to the attached Figure 2 , which exemplarily shows a flow chart of a joint motor control method obtained by combining the above multiple embodiments. d , expected joint velocity v d , impedance controller parameter K p , K d and feedback torque τ ff , combined with the actual joint position θ and actual joint velocity v fed back by the joint motor, the desired joint torque is obtained through the impedance controller Combined with the actual joint torque T fed back by the torque sensor e The torque loop controller, extended state observer and second-order IIR notch filter are used to control the torque error e. t Tracking control, notch filter to achieve vibration suppression of mechanical vibration, disturbance observer to achieve real-time estimation of external disturbance z2 of torque loop) to obtain the quadrature axis control current and Combined with the actual current i of the quadrature axis fed back by the joint motor q And the actual direct axis current i d , the AC and DC axis control voltage U is obtained through the AC and DC axis current loop controller q and U d .U q and U d The three-phase voltage obtained through pulse width modulation drives the motor to run through the inverter.

[0101] The joint motor control method provided by the embodiment of the present disclosure first determines the disturbance current according to the expected joint torque and the actual joint torque; then determines the system disturbance according to the actual joint state; finally determines the quadrature axis control current according to the disturbance current and the system disturbance, and controls the joint motor to move according to the quadrature axis control current and the preset direct axis control current. Since the method evaluates the system disturbance according to the actual joint state, and determines the quadrature axis control current based on the disturbance current combined with the system disturbance, the precision and accuracy of the quadrature axis control current are improved, so that the control precision and accuracy of the motor are improved, and the complexity of the robot's movement is improved.

[0102] This method realizes tracking control of torque error, disturbance suppression of torque loop and vibration suppression of torque loop, and solves the problem of untimely and inaccurate existing biped torque processing; and this method controls the torque in the lower-level electronic control, which improves the control bandwidth compared to torque control in the upper-level operation control.

[0103] According to a second aspect of the embodiment of the present disclosure, a joint motor control device is provided. Figure 3 , the device comprises:

[0104] A current module 301 is used to determine a disturbance-containing current according to an expected joint torque and an actual joint torque;

[0105] A disturbance module 302 is used to determine a system disturbance according to the actual joint state;

[0106] The motion module 303 is used to determine the quadrature-axis control current according to the disturbance-containing current and the system disturbance, and control the joint motor to move according to the quadrature-axis control current and a preset direct-axis control current.

[0107] In a possible embodiment of the present disclosure, the motion module is used to:

[0108] The difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

[0109] In a possible embodiment of the present disclosure, the motion module is used to:

[0110] The difference between the disturbance-containing current and the system disturbance is filtered for vibration frequency to obtain the quadrature-axis control current.

[0111] In a possible embodiment of the present disclosure, the current module is used for:

[0112] The desired joint torque and the actual joint torque are input into a torque loop controller to obtain a disturbance-containing current output by the torque loop controller.

[0113] In a possible embodiment of the present disclosure, the device further includes an impedance module, and the impedance module is used to:

[0114] The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

[0115] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0116] The actual joint state includes an actual joint position and an actual joint velocity.

[0117] In a possible embodiment of the present disclosure, the motion module is used to:

[0118] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0119] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0120] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0121] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is used to:

[0122] The actual joint state, actual joint torque, actual quadrature-axis current and actual direct-axis current fed back by the joint motor are obtained.

[0123] In a third aspect, at least one embodiment of the present disclosure provides a robot, please refer to the attached Figure 4 , which shows the structure of the robot, the robot includes a memory and a processor, the memory is used to store computer instructions that can be executed on the processor, and the processor is used to control the joint motor based on the method described in any one of the first aspects when executing the computer instructions.

[0124] In a fourth aspect, at least one embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any of the methods described in the first aspect.

[0125] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0126] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A joint motor control method, characterized in that: The method comprises: Determine the disturbance current according to the expected joint torque and the actual joint torque; According to the actual joint state, the system disturbance is determined; The quadrature-axis control current is determined according to the disturbance-containing current and the system disturbance, and the joint motor is controlled to move according to the quadrature-axis control current and a preset direct-axis control current.

2. The joint motor control method according to claim 1, characterized in that: The determining of the quadrature-axis control current according to the disturbance-containing current and the system disturbance comprises: The difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

3. The joint motor control method according to claim 1, characterized in that: The determining of the quadrature-axis control current according to the disturbance-containing current and the system disturbance comprises: The difference between the disturbance-containing current and the system disturbance is filtered for vibration frequency to obtain the quadrature-axis control current.

4. The joint motor control method according to claim 1, characterized in that: The step of determining the disturbance current according to the expected joint torque and the actual joint torque includes: The desired joint torque and the actual joint torque are input into a torque loop controller to obtain a disturbance-containing current output by the torque loop controller.

5. The joint motor control method according to claim 1, characterized in that: The method further comprises: The desired joint state and the actual joint state are input into the impedance controller to obtain the desired joint torque output by the impedance controller.

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

7. The joint motor control method according to claim 1, characterized in that: The method of controlling the joint motor to move according to the quadrature-axis control current and the preset direct-axis control current comprises: Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller; Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a 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.

8. The joint motor control method according to claim 7, characterized in that: The method further comprises: The actual joint state, actual joint torque, actual quadrature-axis current and actual direct-axis current fed back by the joint motor are obtained.

9. A joint motor control device, characterized in that: The device comprises: A current module is used to determine a disturbance-containing current according to a desired joint torque and an actual joint torque; The disturbance module is used to determine the system disturbance according to the actual joint state; The motion module is used to determine the quadrature-axis control current according to the disturbance-containing current and the system disturbance, and to control the joint motor to move according to the quadrature-axis control current and a preset direct-axis control current.

10. The joint motor control device according to claim 9, characterized in that: The motion module is used to: The difference between the disturbance-containing current and the system disturbance is determined as the quadrature-axis control current.

11. The joint motor control device according to claim 9, characterized in that: The motion module is used to: The difference between the disturbance-containing current and the system disturbance is filtered for vibration frequency to obtain the quadrature-axis control current.

12. The joint motor control device according to claim 9, characterized in that: The current module is used to: The desired joint torque and the actual joint torque are input into a torque loop controller to obtain a disturbance-containing current output by the torque loop controller.

13. The joint motor control device according to claim 9, characterized in that: The device further comprises an impedance module, wherein the impedance module is configured to: The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

14. The joint motor control device according to claim 13, characterized in that: The desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes an actual joint position and an actual joint velocity.

15. The joint motor control device according to claim 9, characterized in that: The motion module is used to: Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller; Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a 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.

16. The joint motor control device according to claim 15, characterized in that: The device further includes an acquisition module, wherein the acquisition module is configured to: The actual joint state, actual joint torque, actual quadrature-axis current and actual direct-axis current fed back by the joint motor are obtained.

17. A robot, characterized in that: The robot comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the joint motor control method according to any one of claims 1 to 8 when executing the computer instructions.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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