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

Abstract

The present application relates to a control method, device, robot main hand, medium and product for a robot main hand. 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 method includes: obtaining the initial angles of the at least four joints, determining 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 angles of the redundant joints according to the angle change to obtain the target angles of the redundant joints; controlling each non-redundant joint and the redundant joint according to the target angles of the redundant joints and the end position of the robot main hand. By using this method for redundant control, each joint is adjusted while ensuring that the end position remains unchanged, which can avoid connecting rod collisions and human interference, and can also prevent the main hand from approaching the singular position of the joint and the extreme position of the joint movement, thereby improving the operational flexibility of the main hand and thus improving the control flexibility of the robot.

Description

Technical Field

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

[0002] With the development of robotics, surgical robots have become the norm in the medical field. Conventional surgical robots typically include a doctor's console and a trolley. The operator controls the trolley by manipulating the console with their hands.

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

[0004] However, when using existing technologies to control the robot's main hand, collisions are likely to occur between the human hand and the main hand's mechanical arm joints, as well as between the mechanical arm joints, resulting in inflexible control of the robot's main hand. 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 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, which are sequentially connected; the at least four joints include at least one redundant joint; and the method comprises:

[0007] Obtaining initial angles of at least four joints, and determining angle changes of redundant joints based on the initial angles of the at least four joints and an 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 the robot's main hand; the end position of the robot's main hand is used to indicate a position at an end of the robot's main hand.

[0010] In one embodiment, updating the initial angle of the redundant joint according to the angle change to obtain the target angle of the redundant joint includes:

[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, updating the initial angle of the redundant joint according to the angle change to obtain the candidate target angle of the redundant joint includes:

[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 the 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 based on the target conditions of the robot's main hand motion;

[0018] 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 method for controlling a robot's main hand. The method includes:

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

[0021] If the current working mode is the 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 the master-slave working mode and the device control mode, and the device control mode is a mode for controlling the device on the robot slave hand through the robot master hand.

[0022] In a third aspect, the present application further provides a robot main hand control device. The robot main hand comprises at least four joints, which are sequentially connected to each other; the at least four joints include at least one redundant joint; the device comprises:

[0023] a determination module, configured to obtain initial angles of at least four joints, and determine angle changes of redundant joints based on the initial angles of the at least four joints and an objective function;

[0024] An updating module is used to update the initial angles of the redundant joints according to the angle changes to obtain the target angles of the redundant joints;

[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 further 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 for controlling the device on the robot slave hand through 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 sequentially connected to each other, and the at least four joints are communicatively connected to the control unit respectively; the at least four joints include at least one redundant joint;

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

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

[0032] The control unit 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.

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

[0034] The robot master hand further 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 and second aspects.

[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, it implements the steps of the robot master hand control method in the first aspect and the second aspect.

[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; by obtaining the initial angles of the at least four joints, and determining the angle change of the redundant joint based on 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 end posture of the robot main hand, the at least four joints are controlled; wherein the end 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 of joint mutations on users; further, after determining the target angle of the redundant joint, this method is used to adjust the various joints of the robot main hand based on the target angle of the redundant joint and the end posture of the robot main hand while ensuring that the end posture remains unchanged, which can effectively solve the interference problem between the human hand and the joint link and the collision problem between the joint links, and improve the control flexibility of the robot main hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 2 is a schematic structural diagram of a robot main hand in one embodiment;

[0039] Figure 2 Schematic diagram of the joints of the robot's main hand in one embodiment;

[0040] Figure 3 1 is a flow chart of a method for controlling a robot master hand according to an embodiment;

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

[0042] Figure 5 A schematic flow chart of a method for controlling a robot master hand 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 the structure of a robot main hand in an embodiment in which a connecting rod collision anomaly occurs;

[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 the structure of a robot main hand experiencing human hand interference anomaly 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] Figure 9 1 is a flow chart of a method for controlling a robot master hand according to an embodiment;

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

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

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

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

[0053] Figure 14 2. The figure shows the internal structure of the robot's main hand in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] In the medical field, surgical operations performed by surgical robots have gradually become the norm. In the prior art, surgical robots can include a doctor's console and an operating table. The operator controls the operating table by operating the doctor's console with his master hand to perform the operation.

[0056] refer to Figure 1, which 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. The display screen can be used to display real-time surgical videos captured by the slave robot. The slave robot can include a left slave hand and a right slave hand to simulate the operator's left and right hands. The left master hand 20 can communicate with the left slave hand, allowing the operator's left hand to control the movement of the left master hand 20 to drive the left slave hand to move synchronously. Similarly, the right master hand 30 can communicate with the right slave hand, allowing the operator's right hand to control the movement of the right master hand 30 to drive the right slave hand to move synchronously. This allows the master hand to control the slave hand, simulating the operator's left and right hands performing surgical operations.

[0057] refer to Figure 2 , which shows a schematic structural diagram of the robot's main hand. The robot's main hand here can be a left master hand 20 or a right master hand 30, that is, the mechanical structure of the left master hand 20 and the right master hand 30 of the main robot can be the same. Taking the left master hand 20 as an example, the robot's main hand can include at least four joints, which 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 then 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 changes in the end position 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; among them, the non-redundant joints can be used to adjust the end position 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 each joint 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; or any one of the second joint 22, the third joint 23 and the fourth joint 24 can 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 yaw 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 the 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, the master robot may include a display screen, a robot master hand (including a left master hand and a right master hand), and a controller (not shown in the figure); the controller may perform redundancy adjustments for the left and right master hands respectively to resolve issues such as interference between the human hand and the joint connecting rod, collision of the joint connecting rod, a small swing range of the master hand, and joint singularity and joint motion limit issues, thereby improving the control flexibility of the robot master hand.

[0063] In one embodiment, Figure 3 As shown, a robot master hand control method is provided, which is applied to Figure 1 The controller of the central master 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 can also include a first controller corresponding to the left master hand and a second controller corresponding to the right master hand, and 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 example uses the controller's redundant control of one of the robot's main hands as an example to illustrate the following steps:

[0065] Step 301: Acquire 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.

[0066] When a user grasps the end joints of the robot's main hand and moves them, the angles of each joint change. The controller can obtain the initial angles of each joint 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, while the redundant joints remain stationary. However, during redundant control, i.e., under abnormal circumstances, the position of each non-redundant joint is adjusted by controlling the rotation of the redundant joints, thereby resolving various issues with inflexible control of the main hand that may arise under 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's main hand as an example, the initial angles of each joint 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. The first joint 21 can serve as a redundant joint, while the second joint 22, the third joint 23, and the fourth joint 24 serve as non-redundant joints.

[0069] Next, once 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 an objective function. The objective function can be an adjustment function constructed based on the joints of the robot's main hand and the target conditions for the robot's main hand's motion, and used to adjust each joint. The smaller the value of the objective function, the better. For example, an objective function for at least four joints can be established based on the target conditions for the robot's main hand's motion. 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 for the at least four joints.

[0070] For example, 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] For example, the expected angle function of the redundant joint corresponding to the minimum value of the objective function can be determined based on 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; 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 can be an angle change vector, including the angle change direction and the angle change magnitude; for example, the angle change direction can be represented by positive or negative, where positive represents clockwise rotation and negative represents counterclockwise rotation.

[0073] It should be noted that, when there are multiple redundant joints, redundant adjustment can be performed based on one or more redundant joints; if the 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 the 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 based on 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 angle 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 principle of positive kinematics is used to determine the end position of the robot main hand according to the initial angles of each joint.

[0080] Illustratively, 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 end position 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 adjustment of the joints of the robot's main hand is achieved while ensuring that the end position of the robot's main hand remains unchanged, thereby avoiding collisions between the human hand and the connecting rods and between the connecting rods, and improving the control flexibility of the robot's main hand.

[0082] For example, the controller can use the inverse kinematics principle to input the end position 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 joint based on 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 end posture of the robot main hand, the at least four joints are controlled; wherein the end 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 of joint mutations on users; further, after determining the target angle of the redundant joint, this method is used to adjust the various joints of the robot main hand based on the target angle of the redundant joint and the end posture of the robot main hand while ensuring that the end posture remains unchanged, which can effectively solve the interference problem between the human hand and the joint link and the collision problem between the joint links, and improve the control flexibility of the robot main hand.

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

[0085] Step 401: Update the initial angle of the redundant joint according to the angle variation to obtain a candidate target angle of the redundant joint.

[0086] For example, if the angle change is an angle change vector, the angle change can be added to the initial angle of the redundant joint to obtain the candidate target angle of the redundant joint. If the angle change is not an angle change vector, the angle change direction can be determined based on the initial angles of each non-redundant joint. Then, based on the angle change direction, the initial angle of the redundant joint can be added to or subtracted from the angle change to obtain the candidate target angle of the redundant joint.

[0087] Step 402 : determining the target angle of the redundant joint according to the candidate target angles 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 represent 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 thresholds for the redundant joint may include a first angle threshold along the clockwise direction (e.g., a positive angle) and a second angle threshold along the counterclockwise direction (e.g., a negative angle). Thus, if the candidate target angle of the redundant joint is greater than 0, it may 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. If the candidate target angle of the redundant joint is less than 0, it may 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 based on the angle change to obtain a candidate target angle for the redundant joint. Next, the controller can determine the target angle of the redundant joint based on the candidate target angle and the preset angle threshold for the redundant joint. Because the preset angle threshold for the redundant joint can represent the rotational range of the redundant joint, comparing the candidate target angle of the redundant joint with the preset angle threshold can prevent the target angle of the redundant joint from exceeding the rotational range, which could cause joint jamming or other joint control issues, thereby improving the reliability of redundant control.

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

[0093] Step 501: Compare 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, the smaller the maximum angle that the redundant joint can rotate at one time, that is, the smaller the rotation change amplitude of the redundant joint, and the smoother the change; the larger the preset angle change threshold, the larger the maximum angle that the redundant joint can rotate at one time, that is, the larger the rotation change amplitude of the redundant joint.

[0095] Exemplarily, when 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 angle of the redundant joint according to the comparison result to obtain a candidate target angle of the redundant joint.

[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 and the angle change are summed 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 and the first angle change threshold are summed 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 and the angle change are summed 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 and the second angle change threshold are summed 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 is compared with a preset angle change threshold to obtain a comparison result. Based on the comparison result, the initial angle of the redundant joint is updated to obtain a candidate target angle for the redundant joint. In this embodiment, by setting a single rotation range for the redundant joint, that is, limiting the angle change of the redundant joint to a smaller angle, sudden changes in the redundant joint can be avoided, further improving the reliability and flexibility of redundant control.

[0101] In one embodiment, the above Figure 2 Taking the structure of the robot master hand 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 includes the following steps:

[0102] Step 601 , obtaining the 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 joints of the robot's main hand to change its end position. While maintaining the end position of the main hand unchanged, a redundant control strategy is introduced. By adjusting 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, achieving the desired posture adjustment effect for the robot's main hand.

[0105] Step 602 : Determine 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] In 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] In 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] In which, the preset angle range can be determined based on 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; in which, the absolute values ​​of the first angle threshold and the second angle threshold can be the same or different, that is, the maximum angle of the redundant joint along the clockwise direction and the maximum angle along the counterclockwise direction can be the same or different.

[0113] In 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] In 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 : Determine 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's main hand.

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

[0117] For example, 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 will be described below.

[0118] refer to Figure 2 As shown, the operator's terminal reference coordinate system is established with the intersection of the axes of joints 21, 22, 23, and 24 as the origin. Since the movement of joints 21, 22, 23, and 24 does not cause a change in the origin of the terminal reference system, but only causes a change in the terminal posture, determining a certain posture in space only requires three constraints. However, the four rear joints of the master hand have complete 4-degree-of-freedom motion capabilities. Due to the redundancy of degrees of freedom at this point, there are theoretically an infinite number of configurations that can satisfy the primary constraint, which is the so-called null space. In actual application, it is not difficult to find that these different configurations have significant differences for the operator. The distinction is based on factors including, but not limited to, the risk of collision with other connecting rods and the operator's operational flexibility when operating the master hand.

[0119] For the first case, refer to Figure 7a As shown, in the null space, that is, when the end position 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, the master hand configuration is as follows under the same end position. 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 smaller the value of the objective function, the better. Based on this adjustment target, the geometric analysis of the master hand configuration is performed. The principle diagram can be referred to above. Figure 6 shown.

[0122] From the above analysis, we can know 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 are the initial angles 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, in the case where 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 is only that when the target angle of the first joint 21 is calculated, 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, based on the target angle of the redundant joint, the target angles of the other non-redundant joints are determined, thereby realizing the adjustment of the robot's main hand posture.

[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 position remains unchanged) is combined with the adjustment intention. Under the complete constraint of ensuring that the end position 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] By analyzing this solution and making redundant adjustments, the operator can avoid collisions with the connecting rod when operating the master hand, maintain good operational flexibility of the master hand, etc., that is, achieve the ideal position under the premise of meeting the primary constraint conditions. In addition, during the master-slave operation, the operator should follow 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 end tool 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 based on the angles of the non-redundant joints (joints 22, 23, and 24) used to control the robot's posture. Within the null space (i.e., ensuring the end-point posture remains unchanged), the angles of the non-redundant joints are adjusted using the angles of the redundant joints. This solves the control problem of the robot master hand's redundant joints, achieving the goal of expanding the master hand's yaw range while avoiding collisions between the human hand and the connecting rod, preventing the master hand from approaching singular joint positions and the extremes of joint motion, and maintaining good operational flexibility. Compared to traditional approaches that use Jacobian pseudo-inverse and extended Jacobian methods to adjust redundant joints, this application obtains the target angles of the robot master hand's redundant joints solely through the initial angles of each non-redundant joint and simple geometric operations. This results in a simple and practical control process and effective adjustment.

[0129] Furthermore, the above-mentioned robot master hand control method can achieve continuous motion control of redundant joints. While simple and easy-to-implement continuous motion control methods exist in conventional technologies, when certain wrist joint angles are large or span a range of plus or minus 90 degrees, the adjusted redundant joint angles can experience significant sudden changes, causing discomfort to the operator and, in severe cases, injury. However, the present application solution does not use non-redundant joint angles that may experience significant changes for calculations, and instead limits the amount of joint angle change to a relatively small range, preventing sudden changes in the redundant joint angles. This solves the problems of singularity and manual interference, while also maintaining good operational flexibility for the master hand.

[0130] Furthermore, the designed yaw range of the robot's main hand is the sum of the mechanical limits of the yaw direction joints. Inappropriate control methods can render some yaw ranges unreachable after implementing redundant control strategies, reducing the originally accessible yaw range of the yaw direction joints and rendering certain positions impossible for the operator to manipulate. However, the redundant control method proposed in this application allows the main hand to fully reach the designed yaw range, meaning the operator can manipulate any point within the main hand's designed workspace, and this motion process consistently satisfies both primary and secondary constraints.

[0131] Furthermore, for any set of end-position positions, 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 minimize interference and collision between the human hand and the connecting rod, or between the connecting rods, and always ensure that the main hand is in a state of optimal operational flexibility, greatly improving the operator's operating experience.

[0132] In one embodiment, for actual surgical operation scenarios involving an endoscope or other in-vivo inspection device, the operator may also control and adjust relevant parameters or operating modes of the endoscope or other in-vivo inspection device by operating the robot's master hand. In other words, the robot's master hand can include not only master-slave operation modes, but also endoscope control modes, and currently, other operating modes.

[0133] For example, when the robot master hand is operating in the endoscope control mode, the above-mentioned 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 Figure 9 As shown, the following steps are included:

[0134] Step 901: Obtain 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 device control mode. The device control mode can be a mode in which the device 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-mentioned 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 by the robotic arm (i.e., slave robot) on the trolley side.

[0139] refer to Figure 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 field of view of the endoscope. 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 master-slave intuitiveness requirements 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 main console display screen, he cannot 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 reaching the extreme position of the joint, which are various abnormal situations that are not conducive to operation. 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 this application.

[0141] If, during master-slave operation, the endoscope's current field of view is found to be insufficient for operational requirements, or if delicate manipulation of a specific patient tissue is desired, the endoscope's field of view needs to be adjusted. At this point, the operator can enter endoscope control mode by pressing the master console's foot pedal and manipulate the master hand to make corresponding endoscope adjustments. During endoscope adjustments, the master hand's posture must remain consistent with that of the slave. Since the operator cannot predict or control the master hand's configuration at every moment, the same redundant control strategy as used in the master-slave operation process is required to avoid interference between the connecting rod and the human hand, connecting rod collisions, system singularities, and reaching joint extreme positions. Using the same control strategy prevents sudden changes in the master hand's posture during the switchover between master-slave operation and endoscope control modes, ensuring operator safety and a better operating experience. If, during master-slave operation, the master hand's position approaches the master console's boundary, a redundant control method similar to that used in the endoscope control mode can be used to adjust the master hand's position to achieve the same goal.

[0142] After adjusting the desired field of view, the operator releases the master console foot pedal and resumes the master-slave connection for master-slave control. Once in master-slave control, the operator can perform normal surgical procedures, such as suturing. This process is similar to the redundant joint control strategy described previously in master-slave control. Once all surgical procedures are completed, the master-slave connection can be disconnected, concluding the 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 various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0145] Based on the same inventive concept, embodiments of the present application also provide a robot master-hand control device for implementing the aforementioned robot master-hand control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more robot master-hand control device embodiments provided below can be found in the aforementioned limitations of the robot master-hand control method and will not be further elaborated here.

[0146] In one embodiment, Figure 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 configured 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 configured to update the initial angle of the redundant joint according to the angle variation 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 the at least four joints and the target functions of the at least four joints.

[0153] In one embodiment, Figure 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 obtain the current working mode of the robot's main hand.

[0155] 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 aforementioned robot master hand control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a computer device's memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0157] In one embodiment, Figure 13As shown, a robot main hand is provided, including at least four joints 1301 and a control unit 1302, 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; the at least four joints 1301 include at least one redundant joint.

[0158] The control unit 1302 is configured 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 configured to update the initial angle of the redundant joint according to the angle variation to obtain the target angle of the redundant joint.

[0160] The control unit 1302 is further configured 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 embodiments, or may be one of the processing units of the controller in the above embodiments.

[0162] In one embodiment, a robot main hand is provided, comprising at least four joints, the at least four joints being connected in sequence, and the at least four joints including at least one redundant joint; its internal structure diagram can be shown as follows: Figure 14 As shown. The robot master hand includes a processor and 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 computer program in the non-volatile storage medium. When executed by the processor, the computer program implements a robot master hand control method.

[0163] Those skilled in the art will understand that Figure 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0164] In one embodiment, a robot master hand is provided, comprising 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, comprising 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 will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

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

[0169] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A robot 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 comprising: Acquiring initial angles of the at least four joints, and determining angle changes of the redundant joints according to the initial angles of the at least four joints and an objective function; updating the initial angle of the redundant joint according to the angle variation to obtain a target angle of the redundant joint; The at least four joints are controlled according to the target angles of the redundant joints 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 a 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 variation with a preset angle variation threshold; According to the comparison result, the initial angle of the redundant joint is updated to obtain a candidate target angle of the redundant joint.

4. The method according to any one of claims 1 to 3, characterized in that The determining the angle change of the redundant joint according to the initial angles of the at least four joints and the objective function includes: Establishing objective functions of the at least four joints according to the target conditions of the robot master hand movement; The angle variation 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, configured to obtain the initial angles of the at least four joints, and determine the angle variation of the redundant joint according to the initial angles of the at least four joints and an objective function; an updating module, configured to update 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 angles of the redundant joints 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 is used to execute the steps of the method according to 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 for controlling the device on the robot slave hand through 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 in communication connection with the control unit respectively; the at least four joints include at least one redundant joint; The control unit is configured to obtain the initial angles of the at least four joints, and determine the angle variation of the redundant joint according to the initial angles of the at least four joints and an objective function; The control unit is further configured to update the initial angle of the redundant joint according to the angle variation to obtain a 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 includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to 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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