Robot main hand control method and device, robot main hand, medium and product

Abstract

The invention relates to a robot main hand control method and device, a robot main hand, a medium and a product. The robot main hand comprises at least four joints which are connected in sequence. The at least four joints comprise at least one redundant joint; the method comprises the steps that initial angles of at least four joints are obtained, and the angle variation of redundant joints is determined according to the initial angles of the at least four joints and a target function; updating the initial angle of the redundant joint according to the angle variation to obtain a target angle of the redundant joint; and according to the target angles of the redundant joints and the tail end poses of the robot main hands, the non-redundant joints and the redundant joints are controlled. When the method is adopted for redundancy control, under the condition that the tail end pose is not changed, all the joints are adjusted, connecting rod collision and human hand interference can be avoided, the main hand can be prevented from getting close to the singularity of the joints and the joint movement limit position, the operation flexibility of the main hand is improved, and then the robot control flexibility is improved.

Description

Technical Field

[0001] The present application relates to the technical field of main robot control, and in particular to a robot main hand control method, device, robot main hand, medium and product. Background Art

[0002] With the development of robotics technology, in the medical field, surgical operations performed by surgical robots have gradually become the norm. In the prior art, a surgical robot may include a doctor's console and an operating trolley, wherein the operator controls the operating trolley at the slave end by operating the master hand of the doctor's console to perform the operation.

[0003] The main hand includes multiple robotic arm joints. The operator can operate the multiple robotic arm joints to enable the main hand to achieve multi-degree-of-freedom movement and rotation, thereby providing the operator with a multi-dimensional operating space.

[0004] However, when using the existing technology to control the robot's main hand, collisions are likely to occur between the human hand and the main hand's mechanical arm joints and between the mechanical arm joints, which in turn causes the robot's main hand to have a problem of inflexible control. Summary of the invention

[0005] Based on this, it is necessary to provide a robot main hand control method, device, robot main hand, computer-readable storage medium and computer program product that can improve the control flexibility of the robotic arm in order to address the above technical problems.

[0006] In a first aspect, the present application provides a method for controlling a robot master hand. The robot master hand comprises at least four joints, and the at least four joints are sequentially connected; the at least four joints include at least one redundant joint; the method comprises:

[0007] Obtaining initial angles of at least four joints, and determining angle changes of redundant joints according to the initial angles of the at least four joints and the objective function;

[0008] The initial angles of the redundant joints are updated according to the angle changes to obtain the target angles of the redundant joints;

[0009] At least four joints are controlled according to target angles of the redundant joints and an end position of a robot main hand; the end position of the robot main hand is used to indicate a position at an end of the robot main hand.

[0010] In one embodiment, the initial angle of the redundant joint is updated according to the angle variation to obtain the target angle of the redundant joint, including:

[0011] The initial angles of the redundant joints are updated according to the angle changes to obtain candidate target angles of the redundant joints;

[0012] The target angle of the redundant joint is determined according to the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint.

[0013] In one embodiment, the initial angle of the redundant joint is updated according to the angle variation to obtain the candidate target angle of the redundant joint, including:

[0014] Comparing the angle change with a preset angle change threshold;

[0015] According to the comparison results, the initial angles of the redundant joints are updated to obtain candidate target angles of the redundant joints.

[0016] In one embodiment, determining the angle change of the redundant joints according to the initial angles of at least four joints and the objective function includes:

[0017] Establish objective functions for at least four joints according to the objective conditions of the robot's main hand motion;

[0018] The angle changes of the redundant joints are determined according to the initial angles of the at least four joints and the objective functions of the at least four joints.

[0019] In a second aspect, the present application also provides a robot master hand control method. The method comprises:

[0020] Get the current working mode of the robot's main hand;

[0021] If the current working mode is a preset working mode, the steps of the robot master hand control method in the first aspect are executed; the preset working mode includes at least one of a master-slave working mode and a device control mode, and the device control mode is a mode in which the device on the robot slave hand is controlled by the robot master hand.

[0022] In a third aspect, the present application also provides a robot main hand control device. The robot main hand includes at least four joints, and the at least four joints are connected in sequence; the at least four joints include at least one redundant joint; the device includes:

[0023] A determination module, used to obtain the initial angles of at least four joints, and determine the angle changes of the redundant joints according to the initial angles of the at least four joints and the objective function;

[0024] An updating module is used to update the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint;

[0025] The control module is used to control at least four joints according to the target angles of the redundant joints and the end position of the robot's main hand; the end position of the robot's main hand is used to indicate the position at the end of the robot's main hand.

[0026] In a fourth aspect, the present application also provides a robot master hand control device. The device comprises:

[0027] The acquisition module is used to obtain the current working mode of the robot's main hand;

[0028] An execution module is used to execute the steps of the robot master hand control method in the first aspect if the current working mode is a preset working mode; the preset working mode includes at least one of a master-slave working mode and a device control mode, and the device control mode is a mode in which the device on the robot slave hand is controlled by the robot master hand.

[0029] In a fifth aspect, the present application further provides a robot main hand, comprising at least four joints and a control unit, wherein the at least four joints are connected in sequence, and the at least four joints are respectively connected to the control unit in communication; the at least four joints include at least one redundant joint;

[0030] A control unit, used to obtain the initial angles of at least four joints, and determine the angle changes of the redundant joints according to the initial angles of the at least four joints and the objective function;

[0031] The control unit is further used to update the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint;

[0032] The control unit is also used to control at least four joints according to the target angles of the redundant joints and the end position of the robot's main hand; the end position of the robot's main hand is used to indicate the position at the end of the robot's main hand.

[0033] In a sixth aspect, the present application further provides a robot main hand, comprising at least four joints, wherein the at least four joints are connected in sequence, and the at least four joints include at least one redundant joint;

[0034] The robot master hand also includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the robot master hand control method in the first aspect and the second aspect are implemented.

[0035] In a seventh aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot master hand control method in the first aspect and the second aspect.

[0036] In an eighth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the robot master hand control method in the first aspect and the second aspect are implemented.

[0037] The above-mentioned robot main hand control method, device, robot main hand, storage medium and computer program product, the robot main hand includes at least four joints, the at least four joints are connected in sequence, and the at least four joints include at least one redundant joint; the initial angles of the at least four joints are obtained, and the angle change of the redundant joints is determined according to the initial angles of the at least four joints and the objective function; the initial angles of the redundant joints are updated according to the angle change to obtain the target angles of the redundant joints; and then, according to the target angles of the redundant joints and the terminal posture of the robot main hand, the at least four joints are controlled; wherein the terminal posture of the robot main hand is used to indicate the posture at the end of the robot main hand. That is to say, the robot main hand control method proposed in the embodiment of the present application, when performing redundant control, first calculates the angle change of the redundant joint based on the initial angle of each joint, and then determines the target angle of the redundant joint according to the angle change; the target angle of the redundant joint obtained by this method can achieve continuous change of the redundant joint, and avoid adverse effects on users caused by sudden changes in the joints; further, after determining the target angle of the redundant joint, this method adjusts the joints of the robot main hand based on the target angle of the redundant joint and the terminal posture of the robot main hand while ensuring that the terminal posture remains unchanged, which can effectively solve the interference problem between the human hand and the joint connecting rod and the collision problem between the joint connecting rods, and improve the control flexibility of the robot main hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of a robot main hand in one embodiment;

[0039] Figure 2 A schematic diagram of the joints of a robot main hand in one embodiment;

[0040] Figure 3 A schematic diagram of a flow chart of a method for controlling a robot master hand in one embodiment;

[0041] Figure 4 A schematic diagram of a flow chart of a robot master hand control method in another embodiment;

[0042] Figure 5 A schematic diagram of a flow chart of a robot master hand control method in another embodiment;

[0043] Figure 6 A schematic diagram of a complete flow chart of a method for controlling a robot master hand in one embodiment;

[0044] Figure 7a A schematic diagram of a structure in which a connecting rod collision abnormality occurs in a robot main hand in one embodiment;

[0045] Figure 7b In one embodiment, Figure 7a Structural diagram of the robot's main hand posture after redundant control of the connecting rod collision problem;

[0046] Figure 8a A schematic diagram of a structure in which a human hand interference anomaly occurs in the robot's main hand in one embodiment;

[0047] Figure 8b In one embodiment, Figure 8a Structural diagram of the robot's main hand posture after redundant control of the human hand interference problem;

[0048] Fig. 9 A schematic diagram of a flow chart of a method for controlling a robot master hand in one embodiment;

[0049] Fig.10 A schematic diagram of the workflow of the robot master hand in one embodiment;

[0050] Fig.11 is a structural block diagram of a robot master hand control device in one embodiment;

[0051] Fig.12 is a structural block diagram of a robot master hand control device in one embodiment;

[0052] Fig.13 is a structural block diagram of a robot master hand in one embodiment;

[0053] Fig.14 Schematic diagram of the internal structure of the robot main hand in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In the medical field, performing surgery with a surgical robot has gradually become the norm. In the prior art, a surgical robot may include a doctor's console and an operating trolley, wherein an operator controls the operating trolley at the slave end by operating the master hand of the doctor's console to perform surgery.

[0056] refer to Figure 1As shown, it shows a schematic diagram of the mechanical structure of a master robot. It includes a display screen 10, a left master hand 20 and a right master hand 30; wherein the display screen can be used to display real-time surgical videos collected by the slave robot, and the slave robot can include a left slave hand and a right slave hand to simulate the left and right hands of the operator; the left master hand 20 can be connected to the left slave hand for communication, and the operator's left hand drives the left slave hand to move synchronously by controlling the movement of the left master hand 20; similarly, the right master hand 30 can be connected to the right slave hand for communication, and the operator's right hand drives the right slave hand to move synchronously by controlling the movement of the right master hand 30; thereby, the master hand controls the slave hand, simulating the operator's left and right hands to perform surgical operations.

[0057] refer to Figure 2 As shown, it shows a schematic diagram of the structure of the robot's main hand, where the robot's main hand can be a left main hand 20 or a right main hand 30, that is, the mechanical structure of the left main hand 20 and the right main hand 30 of the main robot can be the same. Taking the left main hand 20 as an example, the robot's main hand can include at least four joints, and the at least four joints are connected in sequence; for example: the robot's main hand can include a first joint 21, a second joint 22, a third joint 23 and a fourth joint 24, wherein the first joint 21 is connected to the second joint 22, then the second joint 22 is connected to the third joint 23, and the third joint is connected to the fourth joint. Exemplarily, the first joint 21 can be the joint closest to the base of the robot's main hand, and the fourth joint 24 can be the end joint of the robot's main hand.

[0058] For the robot main hand, three joints are usually used to control the change of the terminal posture of the robot main hand. Therefore, the at least four joints of the robot main hand may include at least three non-redundant joints and at least one redundant joint; wherein the non-redundant joints can be used to adjust the terminal posture of the robot main hand under normal circumstances, and the redundant joints can be used to assist in adjusting the joint angles of the non-redundant joints under abnormal circumstances, so as to adjust the postures of the joints of the robot main hand, improve the control flexibility of the robot main hand under abnormal circumstances, and improve the user experience.

[0059] For example, among the at least four joints of the robot's main hand, any three or more joints may be used as non-redundant joints, and the other joints except the non-redundant joints may be used as redundant joints; Figure 2 Taking the robot main hand shown as an example, when the robot main hand includes four joints, the joint close to the base of the robot main hand, that is, the first joint 21, can be used as a redundant joint, and the second joint 22, the third joint 23 and the fourth joint 24 can be used as non-redundant joints; any one of the second joint 22, the third joint 23 and the fourth joint 24 can also be used as a redundant joint, and the other three joints except the redundant joint can be used as non-redundant joints.

[0060] Abnormal situations may include insufficient swing range of the robot's main hand, interference between the human hand and the joint links of the robot's main hand, collision between the joint links of the robot's main hand, singularity of the main hand approaching joints and extreme positions of joint movement, and other situations where non-redundant joints cannot effectively meet user control requirements.

[0061] In an embodiment of the present application, a control method for a robot main hand is proposed, which adjusts the redundant joints to adjust the non-redundant joints, and then adjusts the posture of the robot main hand to solve the problems of poor control effect and inflexible control of the robot main hand in the above-mentioned various abnormal situations.

[0062] The robot master hand control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in the figure, the main robot may include a display screen, a robot main hand (including a left main hand and a right main hand) and a controller (not shown in the figure); the controller may perform redundant adjustments for the left main hand and the right main hand respectively to solve the interference problem between the human hand and the joint connecting rod, the collision problem of the joint connecting rod, the problem of the small swing range of the main hand, the joint singularity and the joint movement limit problem, etc., so as to improve the control flexibility of the robot main hand.

[0063] In one embodiment, Figure 3 As shown, a robot master hand control method is provided, and the method is applied to Figure 1 The controller of the main robot is used as an example for explanation; it should be noted that the method is applicable to both the left master hand and the right master hand. During the use of the main robot, the controller can perform redundant control on the left master hand and the right master hand respectively; of course, the main robot may also include a first controller corresponding to the left master hand and a second controller corresponding to the right master hand, the left master hand is redundantly controlled by the first controller, and the right master hand is redundantly controlled by the second controller; the embodiments of the present application do not make specific limitations on this.

[0064] The following is an example of the controller performing redundant control on one of the robot's main hands, including the following steps:

[0065] Step 301, obtaining the initial angles of at least four joints, and determining the angle changes of the redundant joints according to the initial angles of the at least four joints and the objective function.

[0066] When the user holds the end joint of the robot's main hand and moves it, the joint angles of the joints of the robot's main hand will change, and the controller can obtain the initial angles of the joints of the robot's main hand at the current moment in real time. It should be noted that under normal circumstances, when controlling the joints of the robot's main hand, only the non-redundant joints rotate and move, and the redundant joints remain stationary; when performing redundant control, that is, under abnormal circumstances, the postures of the non-redundant joints are adjusted by controlling the rotation of the redundant joints, thereby solving the problem of inflexible control of various main hands in abnormal circumstances.

[0067] Exemplarily, the initial angle of each joint of the robot's main hand can be detected by an angle detection device; for example: each joint can correspond to an angle detection device, and the angle detection device can be implemented based on an encoder, including but not limited to incremental encoders (Incremental Encoder), absolute encoders (Absolute Encoder), magnetic encoders (Magnetic Encoder) and potentiometers (Potentiometer) and other types of encoders.

[0068] The initial angle of each joint is obtained by the angle detection device corresponding to each joint, wherein the initial angle of the joint can be the rotation angle of the joint relative to the adjacent joint of the joint, and the adjacent joint of the joint is the joint adjacent to the joint and close to the direction of the robot main hand base. Figure 2 Taking the robot main hand shown in the figure as an example, the initial angles of the joints include the initial angle of the fourth joint 24 relative to the third joint 23, the initial angle of the third joint 23 relative to the second joint 22, the initial angle of the second joint 22 relative to the first joint 21, and the initial angle of the first joint 21 relative to the base. Among them, the first joint 21 can be used as a redundant joint, and the second joint 22, the third joint 23 and the fourth joint 24 are non-redundant joints.

[0069] Then, when the initial angles of at least four joints are obtained, the angle change of the redundant joint can be determined based on the initial angles of the at least four joints and the objective function; wherein the objective function can be an adjustment function for adjusting each joint constructed based on each joint of the robot's main hand and the target conditions for the robot's main hand movement, and the smaller the value of the objective function, the better. Exemplarily, the objective function of at least four joints can be established according to the target conditions for the robot's main hand movement, and then the angle change of the redundant joint can be determined based on the initial angles of the at least four joints and the objective function of the at least four joints.

[0070] Exemplarily, the initial angle of each joint can be input into the objective function to obtain the joint angle of the redundant joint corresponding to the minimum value of the objective function. Then, the angle change of the redundant joint is calculated based on the joint angle of the redundant joint corresponding to the minimum value of the objective function and the initial angle of the redundant joint.

[0071] Exemplarily, the expected angle function of the redundant joint corresponding to the minimum value of the objective function can be determined according to the objective function. The expected angle function of the redundant joint can be composed of two parts: the initial angle of the redundant joint and the angle change function of the redundant joint; wherein the angle change function of the redundant joint can be constructed based on the initial angles of each non-redundant joint; and then, the initial angles of each non-redundant joint can be input into the angle change function of the redundant joint for calculation to obtain the angle change of the redundant joint.

[0072] Exemplarily, the angle change of the redundant joint may be an angle change vector, including the angle change direction and the angle change magnitude; for example, the angle change direction may be indicated by positive or negative, with positive indicating rotation in a clockwise direction and negative indicating rotation in a counterclockwise direction.

[0073] It should be noted that, in the case where there are multiple redundant joints, redundant adjustment can be performed based on one or more redundant joints; if adjustment of each non-redundant joint can be achieved based on one non-redundant joint to solve the problem of inflexible control of the robot's main hand under abnormal circumstances, then one redundant joint can be selected from the multiple redundant joints for redundant adjustment; if adjustment of each non-redundant joint cannot be achieved based on one non-redundant joint to solve the problem of inflexible control of the robot's main hand under abnormal circumstances, then multiple redundant joints can be controlled simultaneously to achieve redundant adjustment; at this time, it is necessary to calculate the angle change of each redundant joint according to the initial angle of each non-redundant joint.

[0074] Exemplarily, the controller may also first determine the number of redundant joints required for redundant adjustment based on the initial angles of each non-redundant joint, and then, based on the number of redundant joints, determine the number of target redundant joints to be controlled from at least one redundant joint of the robot's main hand; and then, perform redundant adjustment based on the number of target redundant joints.

[0075] Step 302: Update the initial angle of the redundant joint according to the angle variation to obtain the target angle of the redundant joint.

[0076] Exemplarily, when the angle change amount is an angle change vector, the controller may superimpose and sum the angle change amount with the initial angle of the redundant joint to obtain the target angle of the redundant joint.

[0077] Exemplarily, when the angle change is a non-angle change vector, the controller can first determine the angle change direction based on the initial angles of each non-redundant joint, and then, based on the angle change direction, add or subtract the initial angle of the redundant joint from the angle change to obtain the target angle of the redundant joint.

[0078] Step 303: Control at least four joints according to the target angles of the redundant joints and the end position of the robot's main hand.

[0079] Among them, the end position of the robot main hand is used to indicate the position at the end of the robot main hand. The end position of the robot main hand can be determined based on the initial angles of at least four joints; that is, the positive kinematics principle is used to determine the end position of the robot main hand according to the initial angles of each joint.

[0080] Exemplarily, after the target angles of the redundant joints are determined, at least four joints are controlled according to the target angles of the redundant joints and the end position of the robot's main hand while ensuring that the end position of the robot's main hand does not change.

[0081] In one implementation, the target angles of other joints can be determined based on the target angles of the redundant joints and the terminal posture of the robot's main hand; then, the redundant joints are controlled based on the target angles of the redundant joints, and the corresponding joints are controlled based on the target angles of other joints; thereby, redundant adjustments are made to the joints of the robot's main hand while ensuring that the terminal posture of the robot's main hand remains unchanged, thereby avoiding collisions between the human hand and the connecting rod and between the connecting rods, and improving the control flexibility of the robot's main hand.

[0082] Exemplarily, the controller may adopt the inverse kinematics principle to input the end posture of the robot's main hand and the target angles of the redundant joints into a preset inverse kinematics algorithm, thereby calculating the target angles of other joints.

[0083] In the above-mentioned robot main hand control method, the robot main hand includes at least four joints, the at least four joints are connected in sequence, and the at least four joints include at least one redundant joint; by obtaining the initial angles of the at least four joints, and determining the angle change of the redundant joints according to the initial angles of the at least four joints and the objective function; the initial angles of the redundant joints are updated according to the angle change to obtain the target angles of the redundant joints; and then, according to the target angles of the redundant joints and the terminal posture of the robot main hand, the at least four joints are controlled; wherein the terminal posture of the robot main hand is used to indicate the posture at the end of the robot main hand. That is to say, the robot main hand control method proposed in the embodiment of the present application, when performing redundant control, first calculates the angle change of the redundant joint based on the initial angle of each joint, and then determines the target angle of the redundant joint according to the angle change; the target angle of the redundant joint obtained by this method can achieve continuous change of the redundant joint, and avoid adverse effects on users caused by sudden changes in the joints; further, after determining the target angle of the redundant joint, this method adjusts the joints of the robot main hand based on the target angle of the redundant joint and the terminal posture of the robot main hand while ensuring that the terminal posture remains unchanged, which can effectively solve the interference problem between the human hand and the joint connecting rod and the collision problem between the joint connecting rods, and improve the control flexibility of the robot main hand.

[0084] Figure 4 FIG. 1 is a flow chart of a robot master hand control method in another embodiment. This embodiment relates to an optional implementation process in which a controller updates the initial angle of a redundant joint according to the angle variation to obtain a target angle of the redundant joint. Based on the above embodiment, Figure 4 As shown, the above step 302 includes:

[0085] Step 401, updating the initial angle of the redundant joint according to the angle variation to obtain the candidate target angle of the redundant joint.

[0086] Exemplarily, when the angle change amount is an angle change vector, the angle change amount and the initial angle of the redundant joint can be added and summed to obtain the candidate target angle of the redundant joint. When the angle change amount is a non-angle change vector, the angle change direction can be first determined according to the initial angle of each non-redundant joint, and then, based on the angle change direction, the initial angle of the redundant joint is added or subtracted from the angle change amount to obtain the candidate target angle of the redundant joint.

[0087] Step 402: Determine the target angle of the redundant joint according to the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint.

[0088] The preset angle threshold of the redundant joint is used to characterize the angle range of the redundant joint, that is, the rotatable range of the redundant joint.

[0089] Optionally, when determining the target angle of the redundant joint based on the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint, if the candidate target angle of the redundant joint is within the angle range of the redundant joint, the candidate target angle of the redundant joint is determined as the target angle of the redundant joint; if the candidate target angle of the redundant joint exceeds the angle range of the redundant joint, the target angle of the redundant joint is determined based on the preset angle threshold of the redundant joint.

[0090] Exemplarily, the preset angle threshold of the redundant joint may include a first angle threshold along the clockwise direction (such as a positive angle) and a second angle threshold along the counterclockwise direction (such as a negative angle); then, when the candidate target angle of the redundant joint is greater than 0, it can be determined whether the candidate target angle of the redundant joint is less than the first angle threshold, if so, the candidate target angle of the redundant joint is determined as the target angle of the redundant joint, if not, the first angle threshold is determined as the target angle of the redundant joint. When the candidate target angle of the redundant joint is less than 0, it can be determined whether the candidate target angle of the redundant joint is greater than the second angle threshold, if so, the candidate target angle of the redundant joint is determined as the target angle of the redundant joint, if not, the second angle threshold is determined as the target angle of the redundant joint.

[0091] In this embodiment, the controller can first update the initial angle of the redundant joint according to the angle change to obtain the candidate target angle of the redundant joint; then, according to the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint, determine the target angle of the redundant joint. Since the preset angle threshold of the redundant joint can characterize the rotatable range of the redundant joint, by comparing the candidate target angle of the redundant joint with the preset angle threshold of the redundant joint, it is possible to avoid the target angle of the redundant joint exceeding the rotatable range of the redundant joint, causing joint jamming or other joint control problems, thereby improving the reliability of redundant control.

[0092] Figure 5 FIG. 1 is a flow chart of a robot master hand control method in another embodiment. This embodiment relates to an optional implementation process in which a controller updates the initial angle of a redundant joint according to the angle variation to obtain a candidate target angle of the redundant joint. Based on the above embodiment, Figure 5 As shown, the above step 401 includes:

[0093] Step 501, comparing the angle variation with a preset angle variation threshold.

[0094] Among them, the preset angle change threshold is used to characterize the single angle range of the redundant joint during redundant control, that is, the maximum angle range that the redundant joint can rotate at one time; the smaller the preset angle change threshold is, the smaller the maximum angle that the redundant joint can rotate at one time is, that is, the smaller the rotation change amplitude of the redundant joint is, and the smoother the change is; the larger the preset angle change threshold is, the larger the maximum angle of the redundant joint rotation at one time is, that is, the larger the rotation change amplitude of the redundant joint is.

[0095] Exemplarily, in the case where the angle change is an angle transformation vector, the preset angle change threshold may include a first angle change threshold along the clockwise direction (such as a positive angle change threshold) and a second angle change threshold along the counterclockwise direction (such as a negative angle change threshold); then, in this case, if the angle change is greater than 0, the angle change is compared with the first angle change threshold to obtain a first comparison result; if the angle change is less than 0, the angle change is compared with the second angle change threshold to obtain a second comparison result.

[0096] Step 502: Update the initial angles of the redundant joints according to the comparison results to obtain candidate target angles of the redundant joints.

[0097] Exemplarily, when the angle change is greater than 0, the initial angle of the redundant joint is updated according to the first comparison result; if the first comparison result is that the angle change is less than the first angle change threshold, the initial angle of the redundant joint is summed with the angle change to obtain the candidate target angle of the redundant joint; if the first comparison result is that the angle change is greater than or equal to the first angle change threshold, the initial angle of the redundant joint is summed with the first angle change threshold to obtain the candidate target angle of the redundant joint.

[0098] Exemplarily, when the angle change is less than 0, the initial angle of the redundant joint is updated according to the second comparison result; if the second comparison result is that the angle change is greater than the second angle change threshold, the initial angle of the redundant joint is summed with the angle change to obtain the candidate target angle of the redundant joint; if the second comparison result is that the angle change is less than or equal to the second angle change threshold, the initial angle of the redundant joint is summed with the second angle change threshold to obtain the candidate target angle of the redundant joint.

[0099] That is to say, when the comparison result indicates that the angle change is within the single angle range of the redundant joint corresponding to the preset angle change threshold, the initial angle of the redundant joint is updated according to the angle change to obtain the candidate target angle of the redundant joint; when the comparison result indicates that the angle change is outside the single angle range of the redundant joint corresponding to the preset angle change threshold, the initial angle of the redundant joint is updated according to the preset angle change threshold to obtain the candidate target angle of the redundant joint.

[0100] In this embodiment, the angle change amount is compared with the preset angle change amount threshold to obtain a comparison result; according to the comparison result, the initial angle of the redundant joint is updated to obtain the candidate target angle of the redundant joint. In the embodiment of the present application, by setting the single rotation range of the redundant joint, that is, limiting the joint angle change amount of the redundant joint to a smaller angle, it is possible to avoid sudden changes in the redundant joint, and further improve the reliability and flexibility of the redundant control.

[0101] In one embodiment, the above Figure 2 Taking the robot master hand structure shown in the figure as an example, a complete implementation process of a robot master hand control method is provided; for example, the robot master hand can be applied to the abdominal master hand. In the workflow of the abdominal master hand performing master-slave operation control, redundant control of redundant joints can be added to adjust the posture of the abdominal master hand to avoid human interference, connecting rod collision, system singularity and achieve the purpose of joint limit position. Figure 6 As shown, the method comprises the following steps:

[0102] Step 601 , obtaining initial angles of the first joint 21 , the second joint 22 , the third joint 23 and the fourth joint 24 .

[0103] The first joint 21 is set as a redundant joint, and the second joint 22, the third joint 23 and the fourth joint 24 are set as non-redundant joints.

[0104] In actual use, the operator manually drags the end joint of the robot's main hand to change the end position of the robot's main hand. Under the condition that the end position of the main hand remains unchanged, a redundant control strategy is introduced. Through the initial angles of the non-redundant joints and the initial angles of the redundant joints, the posture of the redundant joints is adjusted, and then the posture of each non-redundant joint is adjusted to achieve the effect of adjusting the posture of the robot's main hand.

[0105] Step 602 , determining the angle change of the first joint 21 according to the initial angles of the second joint 22 , the third joint 23 and the fourth joint 24 .

[0106] The angle change amount of the first joint 21 is an angle change vector, which can represent the rotation direction of the first joint 21 and the rotation angle of the first joint 21 .

[0107] Step 603, determining whether the angle variation of the first joint 21 is within a preset angle variation range.

[0108] Among them, the preset angle change range can be determined according to the preset angle change threshold, the preset angle change threshold includes a positive first angle change threshold and a negative second angle change threshold, and the preset angle change range is greater than the second angle change threshold and less than the first angle change threshold; wherein the absolute values ​​of the first angle change threshold and the second angle change threshold are the same.

[0109] Step 604 : If the angle variation of the first joint 21 is within the preset angle variation range, the angle variation is summed with the initial angle of the first joint 21 to obtain a candidate target angle of the first joint 21 . Next, step 606 is executed.

[0110] Step 605 , if the angle variation of the first joint 21 is not within the preset angle variation range, the positive first angle variation threshold or the negative second angle variation threshold is summed with the initial angle of the first joint 21 to obtain a candidate target angle of the first joint 21 . Next, step 606 is executed.

[0111] Step 606 , determining whether the candidate target angle of the first joint 21 is within a preset angle range.

[0112] Among them, the preset angle range can be determined according to the preset angle threshold of the redundant joint; the preset angle threshold of the redundant joint includes a positive first angle threshold and a negative second angle threshold, and the preset angle range is greater than the negative second angle threshold and less than the positive first angle threshold; wherein the absolute values ​​of the first angle threshold and the second angle threshold may be the same or different, that is, the maximum angle of the redundant joint along the clockwise direction may be the same as or different from the maximum angle along the counterclockwise direction.

[0113] Step 607 : If the candidate target angle of the first joint 21 is within the preset angle range, the candidate target angle of the first joint 21 is used as the target angle of the first joint 21 . Next, step 609 is executed.

[0114] Step 608 : If the candidate target angle of the first joint 21 is not within the preset angle range, the first angle threshold or the second angle threshold of the first joint 21 is used as the target angle of the first joint 21 . Next, step 609 is executed.

[0115] Step 609 , determining the target angles of the second joint 22 , the third joint 23 and the fourth joint 24 according to the target angle of the first joint 21 and the end position of the robot main hand.

[0116] Step 610, controlling each joint according to the target angle of each joint to complete redundant control.

[0117] Exemplarily, based on the technical effects that can be achieved by the control strategy in the above method, two common scenarios in which the degrees of freedom of the robot's main hand become redundant are described below.

[0118] refer to Figure 2 As shown, the intersection of the axes of joints 21, 22, 23 and 24 is used as the origin to establish the terminal reference coordinate system when the operator is operating. Since the movement of joints 21, 22, 23 and 24 will not cause the change of the origin of the terminal reference system, it will only cause the change of the terminal posture. Only three constraints are required to determine a certain posture in space, but the four rear joints of the master hand have complete 4-DOF motion capabilities. Since the degrees of freedom are redundant at this time, theoretically there are infinite sets of configurations that can meet the primary constraints, that is, the so-called null space. In practical applications, it is not difficult to find that the above-mentioned different configurations are significantly different for the operator. The basis for distinction includes but is not limited to the risk of collision between this configuration and other connecting rods, the flexibility of the operator when operating the master hand, etc.

[0119] For the first case, refer to Figure 7a As shown, in the null space, that is, when the terminal posture remains unchanged, a connecting rod collision configuration will occur; and after adopting the redundant degree of freedom control strategy proposed in the embodiment of the present application, under the same terminal posture, the master hand configuration is as follows Figure 7b As shown, this configuration not only has no risk of collision interference, but is also far away from the extreme positions of each joint and has better operational flexibility.

[0120] For the second case, refer to Figure 8a As shown, the master hand configuration may cause interference between the human hand and the connecting rod; after adopting the redundant control strategy proposed in the embodiment of the present application, the master hand configuration is as follows Figure 8b As shown, this configuration can avoid such interference problems.

[0121] Assuming that the evaluation index corresponding to the above redundant control target is calculated, the adjustment target can be obtained, that is, the objective function H(q) = ∑|h i (θ i -c i )|, where h i is the coefficient of the i-th joint, θ i is the initial angle of the i-th joint, c iThe motion center of the i-th joint at this time (can be a preset value); the smaller the value of this objective function, the better. Based on this adjustment target, the geometric analysis of the main hand configuration is performed, and its principle diagram can be referred to above Figure 6 shown.

[0122] From the above analysis, it can be seen that the target angle of the master hand redundant joint 21 can be determined by formula (1):

[0123] θ 21-expect =θ 21 +f(θ 22 ,θ 23 ,θ 24 ) (1)

[0124] Among them, θ 21 ,θ 22 ,θ 23 and θ 24 is the initial angle of the main hand joints 21, 22, 23 and 24, and the target angle θ of the redundant joint 21 21-expect is calculated from the initial angles of joints 21, 22, 23 and 24, f(θ 22 ,θ 23 ,θ 24 ) is the angle change function of the redundant joint 21, which is calculated through the initial angles of the non-redundant joints 22, 23 and 24.

[0125] In addition, it should be noted that for the above Figure 2 In the robot main hand structure shown in FIG. 1 , when the redundant joint is not the first joint 21, it is assumed that the redundant joint is any one of the second joint 22, the third joint 23 and the fourth joint 24. In this case, the above-mentioned Figure 6 The redundant control strategy shown in the figure is that after calculating the target angle of the first joint 21, the target angle of the redundant joint can be calculated based on the inverse kinematics principle according to the target angle of the first joint 21; then, the target angles of other non-redundant joints are determined based on the target angle of the redundant joint, thereby realizing the adjustment of the posture of the robot's main hand.

[0126] Refer to the above Figure 6 In the control process, the operator's adjustment intention, that is, the initial angle of each joint, can be identified through the joint motor readings; then, the primary constraint condition (that is, ensuring that the end posture remains unchanged) is combined with the adjustment intention, and under the complete constraint of ensuring that the end posture of the robot arm remains unchanged, the corresponding robot arm joint angle, that is, the target angle of each joint, is solved; thereby achieving redundant control of each joint.

[0127] Through the analysis of this solution and the adjustment of redundancy, the operator can avoid collision with the connecting rod when operating the main hand, maintain good operating flexibility of the main hand, etc., that is, to achieve the ideal position under the premise of satisfying the primary constraint conditions. In addition, during the master-slave operation, the operator Figure 6 The control process in the above example repeatedly calculates and controls the redundant degrees of freedom, so as to always meet other motion performance indicators under this configuration, such as avoiding the risk of collision with the surrounding environment and the operating comfort of the tool at the end of the robot arm.

[0128] The robot master hand control method in this embodiment calculates the angle of the redundant joint (joint 21) in real time according to the angle of the non-redundant joint (joint 22, joint 23 and joint 24) used to control the robot posture, and adjusts the angle of the non-redundant joint by the angle of the redundant joint in the null space (i.e., ensuring that the end posture remains unchanged), thereby solving the control problem of the redundant joints of the robot master hand, and achieving the purpose of avoiding the collision between the human hand and the connecting rod, preventing the master hand from approaching the singularity of the joint and the extreme position of the joint movement, and maintaining the good operational flexibility of the master hand. Compared with the traditional scheme of using Jacobian pseudo-inverse and extended Jacobian to adjust the redundant joints, the present application can obtain the target angle of the redundant joints of the robot master hand only through the initial angle of each non-redundant joint and simple geometric operations, and the control process is simple and practical, and the adjustment effect is good.

[0129] In addition, the above robot master hand control method can realize continuous motion control of redundant joints; in traditional technology, although there are simple and easy-to-implement continuous motion control methods, when some joint angles of the wrist are large or cross positive and negative 90 degrees, the adjusted redundant joint angles will have large mutations, causing discomfort to the operator, and in severe cases may cause harm to the operator. However, the present application does not use non-redundant joint angles that may change significantly for calculation, and limits the change in joint angles to a small range, which will not cause mutations in redundant joint angles, while solving the problems of singularity and human interference, and the master hand maintains good operational flexibility.

[0130] Furthermore, the yaw range of the robot's main hand when it is designed is the sum of the mechanical limits of the yaw direction joints. An inappropriate control method will make part of the yaw range unreachable after adding the redundant control strategy, reducing the original reachable yaw range of the yaw direction joints, making it impossible for the operator to operate to certain positions. However, the redundant control method proposed in this application can make the main hand fully reachable within the designed yaw range, that is, the operator can operate to any point in the designed workspace of the main hand, and this motion process can always meet the primary and secondary constraints.

[0131] In addition, for any set of terminal postures, if the redundant joints take arbitrary values, it may cause interference between the human hand and the connecting rod, collision between the connecting rods, or poor operational flexibility of the main hand, causing discomfort to the operator. The redundant control method proposed in this application can avoid interference and collision between the human hand and the connecting rod or between the connecting rods to the greatest extent, and always ensure that the main hand is in a state of better operational flexibility, greatly improving the operator's operating experience.

[0132] In one embodiment, for actual surgical operation scenarios, when an endoscope or other in-vivo detection device is involved, the operator may also control and adjust the relevant parameters or working modes of the endoscope or other in-vivo detection device by operating the robot master hand. That is to say, the robot master hand may include not only the master-slave operation mode, but also the endoscope control mode, and currently may also include other working modes.

[0133] For example, when the robot master hand works in the endoscope control mode, the above redundant control process may also be involved; of course, in other working modes, redundant control may not be required. Therefore, when the robot master hand includes multiple working modes, redundant control operations can also be selectively performed according to the working mode of the robot master hand. Based on this, in this embodiment, another robot master hand control method is also proposed, such as Fig. 9 As shown, the following steps are included:

[0134] Step 901, obtaining the current working mode of the robot's main hand.

[0135] Step 902, if the current working mode is the preset working mode, execute the steps of the robot master hand control method in any of the above embodiments.

[0136] Among them, the preset working mode includes but is not limited to at least one of the master-slave working mode and the equipment control mode. The equipment control mode can be a mode in which the equipment on the robot slave hand is controlled by the robot master hand; for example: the above-mentioned endoscope control mode, etc.

[0137] In one embodiment, the workflow of the abdominal master hand is described by taking the above abdominal master hand as an example.

[0138] For example, referring to the above Figure 1 As shown, the abdominal master hand may include a display screen 10, a left master hand 20 and a right master hand 30; the patient may lie on the side of an operating trolley (not shown in the figure), and the surgical operation may be performed through the robotic arm (i.e., slave robot) on the trolley side.

[0139] refer to Fig.10As shown, it shows a complete workflow. After completing the preoperative positioning of the trolley, the operator will manually drag the telecentric mechanism with the instrument holding arm and the mirror holding arm to make the instrument in the appropriate position within the endoscope field of view. Then the master-slave connection is made so that the posture of the master hand end is consistent with the posture of the instrument at the slave arm end. This process is the basis for meeting the requirements of master-slave intuition in subsequent operations. If the master-slave alignment process is unsuccessful, it is necessary to readjust the posture of the mirror holding arm or the instrument holding arm, and then perform the master-slave connection to align the master and slave postures. If the master-slave alignment is successful, the operator controls the master hand to perform matching control (match grip) to enter the master-slave operation process. In the early stage of the operation, the master-slave operation mainly performs cutting of the surgical site, etc. During the master-slave operation process, the operator directly operates the master hand of the main console to perform the desired surgical operation.

[0140] During the entire master-slave operation process, since the operator's attention is always focused on the cutting and other operations of the instrument on the display screen of the main control console, he is unable to notice the configuration of the master hand. The operator's arbitrary dragging of the master hand may cause interference between the connecting rod and the human hand, collision of the connecting rod, system singularity, and various abnormal situations that are not conducive to operation such as reaching the extreme position of the joint. Therefore, while ensuring that the operating space of the master hand remains unchanged, redundant degrees of freedom are required to control the configuration of the master hand at each moment to avoid the occurrence of these abnormal scenarios. This is also the main invention point of the present application.

[0141] If during the master-slave operation, it is found that the current field of view of the endoscope cannot meet the operation requirements, or if it is desired to perform fine operations on a local tissue of the patient, it is necessary to adjust the field of view of the endoscope. At this time, the operator can enter the endoscope control mode by stepping on the pedal of the main console and operate the master hand to make corresponding endoscope adjustments. During the endoscope adjustment process, the posture of the master hand still needs to be consistent with the slave end at all times. Since the operator cannot predict or control the configuration of the master hand at every moment in advance, the same redundant control strategy as the master-slave operation process is also required to avoid interference between the connecting rod and the human hand, collision of the connecting rod, system singularity and reaching the extreme position of the joint. The use of the same control strategy can prevent the master hand posture from changing suddenly during the switching between the master-slave operation control and the endoscope control mode, ensuring the safety of the operator's operation and a better operating experience. If the master hand position is close to the boundary of the main console during the master-slave operation, a redundant control method similar to the endoscope control mode can also be used to adjust the master hand position to achieve the same purpose.

[0142] After adjusting to the desired field of view, the operator can release the pedal of the main console and continue the master-slave connection for master-slave operation control. After entering the master-slave operation control, the operator can perform normal surgical operations such as suturing. This process is the same as the redundant joint control strategy in the master-slave operation control mentioned above. When all surgical operations are completed, the master and slave can be disconnected to end the entire operation.

[0143] Exemplarily, the abdominal master hand may also include a redundant adjustment module, which may be one of the processing modules in the above-mentioned controller. During the master-slave operation process and the process of adjusting the endoscope field of view in the entire workflow, the redundant adjustment module may be called in real time to solve the above-mentioned problems, thereby achieving the purpose of maintaining better master hand operation flexibility.

[0144] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0145] Based on the same inventive concept, the embodiment of the present application also provides a robot master hand control device for implementing the robot master hand control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more robot master hand control device embodiments provided below can refer to the limitations of the robot master hand control method above, and will not be repeated here.

[0146] In one embodiment, Fig.11 As shown, a robot master hand control device is provided, wherein the robot master hand includes at least four joints, and the at least four joints are connected in sequence; the at least four joints include at least one redundant joint; the device includes: a determination module 1101, an update module 1102 and a control module 1103, wherein:

[0147] The determination module 1101 is used to obtain the initial angles of at least four joints, and determine the angle changes of the redundant joints according to the initial angles of the at least four joints and the objective function.

[0148] The updating module 1102 is used to update the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint.

[0149] The control module 1103 is used to control at least four joints according to the target angles of the redundant joints and the end position of the robot's main hand; the end position of the robot's main hand is used to indicate the position at the end of the robot's main hand.

[0150] In one embodiment, the updating module 1102 includes an updating submodule and a determining submodule; wherein the updating submodule is used to update the initial angle of the redundant joint according to the angle change to obtain the candidate target angle of the redundant joint; and the determining submodule is used to determine the target angle of the redundant joint according to the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint.

[0151] In one embodiment, the update submodule includes a comparison unit and an update unit; wherein the comparison unit is used to compare the angle change and a preset angle change threshold; the update unit is used to update the initial angle of the redundant joint according to the comparison result to obtain a candidate target angle of the redundant joint.

[0152] In one embodiment, the determination module 1101 includes a function establishment submodule and a determination submodule; wherein the function establishment submodule is used to establish the target function of at least four joints according to the target conditions of the robot's main hand movement; the determination submodule is used to determine the angle change of the redundant joints according to the initial angles of at least four joints and the target functions of at least four joints.

[0153] In one embodiment, Fig.12 As shown, another robot master hand control device is provided, wherein the robot master hand includes at least four joints, and the at least four joints are connected in sequence; the at least four joints include at least one redundant joint; the device includes: an acquisition module 1201 and an execution module 1202, wherein:

[0154] The acquisition module 1201 is used to acquire the current working mode of the robot's main hand.

[0155] The execution module 1202 is used to execute the above-mentioned Figure 3 -The steps of the robot master hand control method of any embodiment in Figure 8; wherein the preset working mode includes at least one of a master-slave working mode and a device control mode, and the device control mode is a mode in which the device on the robot slave hand is controlled by the robot master hand.

[0156] Each module in the above robot master hand control device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0157] In one embodiment, Fig.13As shown, a robot main hand is provided, including at least four joints 1301 and a control unit 1302, wherein the at least four joints 1301 are connected in sequence, and the at least four joints 1301 and the control unit 1302 are respectively communicated with each other; and the at least four joints 1301 include at least one redundant joint.

[0158] The control unit 1302 is used to obtain the initial angles of at least four joints, and determine the angle changes of the redundant joints according to the initial angles of the at least four joints and the objective function.

[0159] The control unit 1302 is further used to update the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint.

[0160] The control unit 1302 is further used to control at least four joints according to the target angles of the redundant joints and the end position of the robot's main hand; the end position of the robot's main hand is used to indicate the position at the end of the robot's main hand.

[0161] In the embodiment of the present application, the control unit 1302 may be the controller in the above-mentioned embodiments, or may be one of the processing units of the controller in the above-mentioned embodiments.

[0162] In one embodiment, a robot main hand is provided, including at least four joints, the at least four joints are connected in sequence, and the at least four joints include at least one redundant joint; its internal structure diagram can be as follows Fig.14 As shown. The robot master hand includes a processor and a memory connected via a system bus. The processor of the robot master hand is used to provide computing and control capabilities. The memory of the robot master hand includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a robot master hand control method is implemented.

[0163] Those skilled in the art will understand that Fig.14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0164] In one embodiment, a robot master hand is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the robot master hand control method in any of the above embodiments are implemented.

[0165] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the robot master hand control method in any of the above embodiments are implemented.

[0166] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the robot master hand control method in any of the above embodiments.

[0167] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0168] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0169] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot master hand control method, characterized in that: The robot main hand comprises at least four joints, and the at least four joints are connected in sequence; The at least four joints include at least one redundant joint; the method comprises: Acquire the initial angles of the at least four joints, and determine the angle change of the redundant joint according to the initial angles of the at least four joints and the objective function; updating the initial angle of the redundant joint according to the angle variation to obtain the target angle of the redundant joint; The at least four joints are controlled according to the target angle of the redundant joint and the end position of the robot main hand; the end position of the robot main hand is used to indicate the position at the end of the robot main hand.

2. The method according to claim 1, characterized in that The updating of the initial angle of the redundant joint according to the angle variation to obtain the target angle of the redundant joint includes: updating the initial angle of the redundant joint according to the angle variation to obtain a candidate target angle of the redundant joint; The target angle of the redundant joint is determined according to the candidate target angle of the redundant joint and the preset angle threshold of the redundant joint.

3. The method according to claim 2, characterized in that The updating of the initial angle of the redundant joint according to the angle variation to obtain a candidate target angle of the redundant joint includes: Comparing the angle change with a preset angle change threshold; According to the comparison result, the initial angle of the redundant joint is updated to obtain the candidate target angle of the redundant joint.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining the angle variation of the redundant joint according to the initial angles of the at least four joints and the objective function comprises: Establishing the objective function of the at least four joints according to the objective condition of the movement of the robot master hand; The angle change of the redundant joint is determined according to the initial angles of the at least four joints and the objective functions of the at least four joints.

5. A robot master hand control method, characterized in that: The method comprises: Get the current working mode of the robot's main hand; If the current working mode is a preset working mode, the steps of the method as described in any one of claims 1 to 4 are executed; the preset working mode includes at least one of a master-slave working mode and a device control mode, and the device control mode is a mode in which the device on the robot slave hand is controlled by the robot master hand.

6. A robot master hand control device, characterized in that: The robot main hand comprises at least four joints, and the at least four joints are connected in sequence; the at least four joints include at least one redundant joint; the device comprises: A determination module, used to obtain the initial angles of the at least four joints, and determine the angle change of the redundant joint according to the initial angles of the at least four joints and the objective function; An updating module, used for updating the initial angle of the redundant joint according to the angle variation to obtain a target angle of the redundant joint; A control module is used to control the at least four joints according to the target angle of the redundant joint and the end position of the robot main hand; the end position of the robot main hand is used to indicate the position at the end of the robot main hand.

7. A robot master hand control device, characterized in that: The device comprises: The acquisition module is used to obtain the current working mode of the robot's main hand; An execution module, used for executing the steps of the method as described in any one of claims 1 to 4 if the current working mode is a preset working mode; the preset working mode includes at least one of a master-slave working mode and a device control mode, and the device control mode is a mode in which the device on the robot slave hand is controlled by the robot master hand.

8. A robot main hand, characterized in that: The invention comprises at least four joints and a control unit, wherein the at least four joints are connected in sequence, and the at least four joints are respectively connected to the control unit for communication; and the at least four joints include at least one redundant joint; The control unit is used to obtain the initial angles of the at least four joints, and determine the angle change of the redundant joint according to the initial angles of the at least four joints and the objective function; The control unit is further used to update the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint; The control unit is further used to control the at least four joints according to the target angle of the redundant joint and the end position of the robot main hand; the end position of the robot main hand is used to indicate the position at the end of the robot main hand.

9. A robot main hand, characterized in that: The device comprises at least four joints, wherein the at least four joints are connected in sequence, and the at least four joints include at least one redundant joint; The robot master hand further comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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