Inertia force compensation method, device and equipment for integrated joint and medium

Abstract

The invention discloses an inertia force compensation method, device and equipment of an integrated joint and a medium. The method comprises the steps that a target integrated joint to be subjected to inertia force compensation is determined; determining a first speed and a first acceleration of the target integrated joint at the first time point and a second speed and a second acceleration of the target integrated joint at the second time point in the process that the target integrated joint performs the target motion; determining a speed difference value according to the first speed and the second speed, and determining an acceleration difference value according to the first acceleration and the second acceleration; calculating the input first speed, the input second acceleration, the speed difference value and the acceleration difference value through an inertia compensation model to obtain a target compensation torque; and performing inertia force compensation on the integrated joint at the first time point based on the target compensation torque. According to the method, the precision of inertia force compensation of the integrated joint can be improved.

Description

Technical Field

[0001] The present invention relates to the field of computer application technology, and in particular to an inertia force compensation method, device, equipment and medium for an integrated joint. Background Art

[0002] At present, surgical robots are used more and more frequently. A good dragging feel of the robotic arm can effectively avoid operational risks during the application of surgical robots, and the inertia force compensation of the integrated joint can effectively improve the dragging feel of the robotic arm.

[0003] In the related art, linear inertia force compensation of the integrated joint is usually performed based on acceleration, but this inertia force compensation method is difficult to meet the user's need for dragging the robotic arm, that is, the accuracy of inertia force compensation of the integrated joint is poor. Summary of the invention

[0004] The present invention provides an inertia force compensation method, device, equipment and medium for an integrated joint, so as to solve the technical problem of poor accuracy of inertia force compensation for an integrated joint.

[0005] According to one aspect of the present invention, a method for compensating inertia force of an integrated joint is provided, wherein the method comprises:

[0006] Determine a target integrated joint to be subjected to inertia force compensation;

[0007] During the target movement of the target integrated joint, determining a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point;

[0008] Determine a speed difference according to the first speed and the second speed, and determine an acceleration difference according to the first acceleration and the second acceleration;

[0009] Calculating the input first speed, second acceleration, speed difference and acceleration difference through an inertia compensation model to obtain a target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference;

[0010] Based on the target compensation torque, inertia force compensation is performed on the integrated joint at the first time point until the target movement of the target integrated joint ends.

[0011] According to another aspect of the present invention, an inertia force compensation device for an integrated joint is provided, wherein the device comprises:

[0012] A target object determination module, used for determining a target integrated joint to be subjected to inertia force compensation;

[0013] a velocity data determination module, for determining a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point during the target movement of the target integrated joint;

[0014] a difference data calculation module, configured to determine a speed difference according to the first speed and the second speed, and to determine an acceleration difference according to the first acceleration and the second acceleration;

[0015] a compensation torque calculation module, configured to calculate the first speed, the second acceleration, the speed difference and the acceleration difference inputted through an inertia compensation model to obtain a target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference;

[0016] An inertia force compensation module is used to perform inertia force compensation on the integrated joint at the first time point based on the target compensation torque until the target movement of the target integrated joint ends.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the inertia force compensation method of the integrated joint described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the inertia force compensation method of the integrated joint described in any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention is to determine the target integrated joint to be compensated for inertia; during the target movement of the target integrated joint, determine the first speed and the first acceleration of the target integrated joint at the first time point, and the second speed and the second acceleration of the target integrated joint at the second time point; determine the speed difference according to the first speed and the second speed, and determine the acceleration difference according to the first acceleration and the second acceleration; calculate the input first speed, the second acceleration, the speed difference and the acceleration difference through the inertia compensation model to obtain the target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; based on the target compensation torque, the integrated joint is compensated for inertia at the first time point until the target movement of the target integrated joint ends. The present invention realizes nonlinear real-time automatic compensation of the inertia force of the integrated joint through the real-time motion data of the integrated joint during the target movement, thereby improving the accuracy of the inertia force compensation of the integrated joint.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a flow chart of an inertia force compensation method of an integrated joint provided according to Embodiment 1 of the present invention;

[0026] Figure 2 is a flow chart of an inertia force compensation method of an integrated joint provided according to a second embodiment of the present invention;

[0027] Figure 3 is a training flow chart of a target compensation item model provided according to an embodiment of the present invention;

[0028] Figure 4 is a comparison example diagram of acceleration time series data and a first acceleration waveform provided according to an embodiment of the present invention;

[0029] Figure 5is an overall flow chart of an inertia force compensation method of an integrated joint provided according to an embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of an inertia force compensation device of an integrated joint provided according to a third embodiment of the present invention;

[0031] Figure 7 It is a structural schematic diagram of an electronic device for implementing the inertia force compensation method of an integrated joint according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 A flowchart of an inertia force compensation method for an integrated joint is provided for the first embodiment of the present invention. This embodiment is applicable to the case where an inertia compensation model is used to automatically and in real time compensate the nonlinear inertia force of an integrated joint. The method can be performed by an inertia force compensation device for an integrated joint. The inertia force compensation device for an integrated joint can be implemented in the form of hardware and / or software. The inertia force compensation device for an integrated joint can be configured in a computer. Figure 1 As shown, the method includes:

[0036] S101, determining a target integrated joint for which inertia force compensation is to be performed.

[0037] The target integrated joint may be understood as an integrated joint of a surgical robot for which inertia force compensation is to be performed.

[0038] S102. Determine, during the target movement of the target integrated joint, a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point.

[0039] The target motion may be understood as the motion of the target integrated joint. Optionally, the target motion may be the motion of the target integrated joint during the process of controlling the lifting of the robotic arm. In an embodiment of the present invention, the target motion may be related to the actual application scenario and is not specifically limited here. Exemplarily, the target motion may be a linear motion, etc.

[0040] The first time point can be understood as a real-time time point or as a current time point. The second time point can be understood as the previous historical time point corresponding to the first time point. To further illustrate, the present invention performs inertia force compensation on the integrated joint in real time, and the relevant inertia force compensation cycle can be preset. Exemplarily, the preset inertia force compensation cycle is 1 second. Correspondingly, during the target movement of the target integrated joint, the data collection cycle of the speed and acceleration is also 1 second. Then the first time point is a real-time time point, and the second time point is the time point corresponding to 1 second before the first time point.

[0041] The first speed can be understood as the real-time speed, and the first acceleration can be understood as the real-time acceleration.

[0042] Speed. The second speed can be understood as the speed recorded at the last historical time point, and the second acceleration can be understood as the acceleration recorded at the last historical time point.

[0043] S103: Determine a speed difference according to the first speed and the second speed, and determine an acceleration difference according to the first acceleration and the second acceleration.

[0044] The speed difference may be understood as the difference between the first speed and the second speed. The acceleration difference may be understood as the difference between the first acceleration and the second acceleration.

[0045] S104. Calculate the first speed, the second acceleration, the speed difference and the acceleration difference input by an inertia compensation model to obtain a target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the target compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference.

[0046] The inertia compensation model can be understood as a model having a function of calculating the inertia compensation torque. The input data of the inertia compensation model can be the first speed, the second acceleration, the speed difference and the acceleration difference, and the output data can be the calculated compensation torque.

[0047] The target compensation item model can be understood as a model having the function of calculating parameters related to inertia force compensation. The input data of the target compensation item model are the second acceleration, the speed difference and the acceleration difference, and the output data can be the inertia force compensation item.

[0048] Optionally, calculating the input first speed, the second acceleration, the speed difference, and the acceleration difference through an inertia compensation model to obtain a target compensation torque includes:

[0049] Calculating the input second acceleration, the speed difference and the acceleration difference through the target compensation term model to obtain an inertia force compensation term;

[0050] The target compensation torque is determined according to the inertia force compensation term and the first speed.

[0051] In summary, specifically, the inertia compensation model can be as follows:

[0052]

[0053] Among them, τ can represent the target compensation torque, can represent the inertia force compensation term, The velocity-dependent viscous friction function, F c It can represent the Coulomb friction force.

[0054] Specifically, the target compensation term model may be as follows:

[0055]

[0056] in, can represent the inertia force compensation term, can represent the second acceleration, Can represent the acceleration difference, K p can represent the first gain parameter, Can represent the speed difference, K i may represent a second gain parameter, and t may represent a first time point.

[0057] S105 . Perform inertia force compensation on the integrated joint at the first time point based on the target compensation torque until the target movement of the target integrated joint ends.

[0058] The technical solution of the embodiment of the present invention is to determine the target integrated joint to be compensated for inertia; during the target movement of the target integrated joint, determine the first speed and the first acceleration of the target integrated joint at the first time point, and the second speed and the second acceleration of the target integrated joint at the second time point; determine the speed difference according to the first speed and the second speed, and determine the acceleration difference according to the first acceleration and the second acceleration; calculate the input first speed, the second acceleration, the speed difference and the acceleration difference through the inertia compensation model to obtain the target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; based on the target compensation torque, the integrated joint is compensated for inertia at the first time point until the target movement of the target integrated joint ends. The present invention realizes nonlinear real-time automatic compensation of the inertia force of the integrated joint through the real-time motion data of the integrated joint during the target movement, thereby improving the accuracy of the inertia force compensation of the integrated joint.

[0059] Embodiment 2

[0060] Figure 2 This is a flowchart of an inertia force compensation method for an integrated joint provided in the second embodiment of the present invention. This embodiment is to add to the calculation of the first speed, the second acceleration, the speed difference and the acceleration difference input by the inertia compensation model described in the above embodiment. Figure 2 As shown, the method includes:

[0061] Figure 3 FIG. 1 is a training flow chart of a target compensation term model provided according to an embodiment of the present invention. Figure 3 As shown, the training process of the target compensation term model can be as follows.

[0062] S201, controlling the target integrated joint to perform a simulated movement corresponding to the target movement, and determining acceleration time series data of the target integrated joint during the simulated movement.

[0063] The simulated motion may be understood as a motion that simulates the target motion. In relation to the target motion, the simulated motion may be a reciprocating linear motion.

[0064] The acceleration time series data can be understood as the acceleration time series data calculated and determined during the simulated motion process. In an embodiment of the present invention, the acceleration time series data can be calculated based on directly collected velocity time series data.

[0065] Optionally, determining the acceleration time series data of the target integrated joint during the simulated motion process includes:

[0066] Recording speed time series data of the target integrated joint during the simulated motion, wherein the speed time series data includes a plurality of recording time points and a recording speed corresponding to each of the recording time points;

[0067] The velocity time series data is differentiated to obtain acceleration time series data corresponding to the velocity time series data, wherein the acceleration time series data includes the recorded acceleration corresponding to each of the recorded time points.

[0068] The speed time series data may be understood as the speed time series data directly collected during the simulated motion process.

[0069] The recording time point may be understood as the time point at which the calculated acceleration (ie, the recorded acceleration) is recorded, and the recording time point may correspond to the time point at which the velocity data is collected during the simulated motion process.

[0070] S202 , performing noise reduction processing on the acceleration time series data by using a target Butterworth low-pass filtering algorithm to obtain a first acceleration waveform.

[0071] The Butterworth low-pass filter algorithm can be understood as an algorithm that can perform noise reduction processing on the calculated acceleration time series data. The target Butterworth low-pass filter algorithm can be understood as a low-pass filter algorithm that completes the setting of filter parameters based on user needs or actual scene needs.

[0072] The first acceleration waveform can be understood as a waveform obtained by low-pass filtering the acceleration time series data. Figure 4 , Figure 4 The figure is a comparison example diagram of acceleration time series data and a first acceleration waveform provided according to an embodiment of the present invention.

[0073] Optionally, before the noise reduction process is performed on the acceleration time series data by the target Butterworth low-pass filtering algorithm, the method further includes:

[0074] Determining target filtering parameters of a Butterworth low-pass filtering algorithm, wherein the target filtering parameters include a filter order and / or a cutoff frequency;

[0075] The Butterworth low-pass filtering algorithm of the target is determined based on the target filtering parameters.

[0076] Among them, Butterworth low-pass filtering algorithms with different filtering parameters can correspond to different noise reduction effects. In an embodiment of the present invention, the target filtering parameters corresponding to the Butterworth low-pass filtering algorithm can be pre-set based on user needs and actual application scenarios to improve the applicability of the acceleration waveform obtained by denoising based on the low-pass filtering algorithm in the process of training the target compensation item model, thereby achieving the effect of improving the accuracy of the determined target compensation item model.

[0077] Specifically, the target filtering parameters of the Butterworth low-pass filtering algorithm may be determined by referring to the following formula:

[0078]

[0079] Among them, jω can represent the response frequency, n can represent the filter order, and Ωc can represent the cutoff frequency.

[0080] S203, determining preliminary gain parameters, constructing an original compensation item model based on the preliminary gain parameters, and determining a second acceleration waveform corresponding to the acceleration time series data through the original compensation item model.

[0081] The preliminary gain parameter may be understood as a preliminary model parameter. The preliminary gain parameter may include a first preliminary parameter corresponding to the acceleration difference and a second preliminary parameter corresponding to the speed difference.

[0082] The original compensation term model may be understood as a compensation term model constructed based on preliminary gain parameters.

[0083] The second acceleration waveform can be understood as a waveform obtained by processing the acceleration time series data through the original compensation term model.

[0084] In the embodiment of the present invention, S202 and S203 may be executed in any order, that is, the first acceleration waveform and the second acceleration waveform may be determined in any order. For example, S202 may be executed first, then S203; or S203 may be executed first, then S202; or S202 and S203 may be executed in parallel.

[0085] S204: Determine a target gain parameter according to the first acceleration waveform, the second acceleration waveform, and a preliminary gain parameter, wherein the target gain parameter includes a first gain parameter and a second gain parameter.

[0086] The target gain parameter may be understood as a target model parameter of the compensation term model.

[0087] Optionally, determining a target gain parameter according to the first acceleration waveform, the second acceleration waveform, and a preliminary gain parameter includes:

[0088] Comparing the first acceleration waveform and the second acceleration waveform to obtain a waveform comparison result, wherein the waveform comparison result includes an overshoot comparison result and / or a steady-state error comparison result;

[0089] In a case where the waveform comparison result meets the target condition, the target gain parameter is determined based on the preliminary gain parameter.

[0090] The waveform comparison result can be understood as a result characterizing the degree of difference between the first acceleration waveform and the second acceleration waveform. In an embodiment of the present invention, the first acceleration waveform and the second acceleration waveform can be understood as two timing waveforms. Specifically, when comparing the first acceleration waveform and the second acceleration waveform, the time of the two timing waveforms can be aligned first.

[0091] The target condition can be used to determine whether the current gain parameter can be used as the target gain parameter. Optionally, the target condition can be that the overshoot comparison result and / or the steady-state error comparison result exceeds a preset threshold. Optionally, the preset threshold can include 15%, 20% or 25%, etc.

[0092] Optionally, determining the target gain parameter based on the preliminary gain parameter includes:

[0093] The dragging feel data of the target integrated joint under the preliminary gain parameters is determined, and the preliminary gain parameters are adjusted based on the dragging feel data to obtain the target gain parameters.

[0094] The dragging feel data can be determined by the feel evaluation data of multiple operation objects of the target integrated joint under the preliminary gain parameter. The operation object can be a related technician. Exemplarily, the dragging feel data is determined based on the average value of multiple feel evaluation data.

[0095] Optionally, after obtaining the waveform comparison result, the method further includes:

[0096] In the case where the waveform comparison result does not meet the target condition, the preliminary gain parameter is adjusted based on the waveform comparison result, and for the adjusted preliminary gain parameter, the operation of performing noise reduction processing on the acceleration time series data through the target Butterworth low-pass filtering algorithm to obtain a first acceleration waveform, determining a second acceleration waveform corresponding to the acceleration time series data through the original compensation item model, and comparing the first acceleration waveform with the second acceleration waveform to obtain a waveform comparison result is returned;

[0097] Until the waveform comparison result meets the target condition, the target gain parameter is determined based on the adjusted preliminary gain parameter.

[0098] S205: Determine the target compensation item model based on the target gain parameter, and construct the inertia compensation model based on the target compensation item model.

[0099] S206: Determine the target integrated joint for which inertia force compensation is to be performed.

[0100] S207 . Determine, during the target integrated joint performing the target movement, a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point.

[0101] S208: Determine a speed difference according to the first speed and the second speed, and determine an acceleration difference according to the first acceleration and the second acceleration.

[0102] S209: Calculate the input first speed, the second acceleration, the speed difference, and the acceleration difference through an inertia compensation model to obtain a target compensation torque.

[0103] S210: Perform inertia force compensation on the integrated joint at the first time point based on the target compensation torque until the target movement of the target integrated joint ends.

[0104] The technical solution of the embodiment of the present invention determines the acceleration time series data of the target integrated joint during the simulated movement by controlling the target integrated joint to perform a simulated movement corresponding to the target movement; performs noise reduction processing on the acceleration time series data by using the target Butterworth low-pass filtering algorithm to obtain a first acceleration waveform; determines a preliminary gain parameter, constructs an original compensation item model based on the preliminary gain parameter, and determines a second acceleration waveform corresponding to the acceleration time series data by using the original compensation item model; determines a target gain parameter according to the first acceleration waveform, the second acceleration waveform and the preliminary gain parameter, wherein the target gain parameter includes a first gain parameter and a second gain parameter; determines the target compensation item model based on the target gain parameter, and constructs the inertia compensation model based on the target compensation item model. The technical solution improves the calculation accuracy of the inertia force compensation torque of the determined inertia compensation model.

[0105] As an optional embodiment of the above embodiment, Figure 5 It is an overall flow chart of an inertia force compensation method of an integrated joint provided according to an embodiment of the present invention. Figure 5 As shown, optionally, the overall process of the inertia force compensation method of the integrated joint can be as follows:

[0106] The present invention is a method for inertia force compensation of integrated joints of surgical robots based on the principle of error dynamics. Specifically, the time series data (speed, acceleration) of the integrated joint motion is collected; the collected data is subjected to noise reduction processing by low-pass filtering to obtain a time series waveform to improve the feature representation capability of the data; the compensation item model in the dynamic model (i.e., the inertia compensation model) is obtained by training the time series waveform and the time series data; and the inertia force compensation of the integrated joint is performed in real time based on the inertia compensation model where the compensation item model obtained by training is located.

[0107] The present invention can effectively suppress acceleration noise during data processing, optimize the starting feel, and the inertia compensation model is highly versatile and easy to debug.

[0108] Embodiment 3

[0109] Figure 6 This is a schematic diagram of the structure of an inertia force compensation device for an integrated joint provided in the third embodiment of the present invention. Figure 6 As shown, the device includes: a target object determination module 301, a difference data calculation module 302, a compensation torque calculation module 303 and an inertia force compensation module 304.

[0110] Among them, the target object determination module 301 is used to determine the target integrated joint to be inertia compensated; the speed data determination module is used to determine the first speed and the first acceleration of the target integrated joint at the first time point, and the second speed and the second acceleration of the target integrated joint at the second time point during the target movement of the target integrated joint; the difference data calculation module 302 is used to determine the speed difference according to the first speed and the second speed, and determine the acceleration difference according to the first acceleration and the second acceleration; the compensation torque calculation module 303 is used to calculate the input first speed, the second acceleration, the speed difference and the acceleration difference through the inertia compensation model to obtain the target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the target compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; the inertia compensation module 304 is used to perform inertia compensation on the integrated joint at the first time point based on the target compensation torque until the target movement of the target integrated joint ends.

[0111] The technical solution of the embodiment of the present invention is to determine the target integrated joint to be compensated for inertia; during the target movement of the target integrated joint, determine the first speed and the first acceleration of the target integrated joint at the first time point, and the second speed and the second acceleration of the target integrated joint at the second time point; determine the speed difference according to the first speed and the second speed, and determine the acceleration difference according to the first acceleration and the second acceleration; calculate the input first speed, the second acceleration, the speed difference and the acceleration difference through the inertia compensation model to obtain the target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; based on the target compensation torque, the integrated joint is compensated for inertia at the first time point until the target movement of the target integrated joint ends. The present invention realizes nonlinear real-time automatic compensation of the inertia force of the integrated joint through the real-time motion data of the integrated joint during the target movement, thereby improving the accuracy of the inertia force compensation of the integrated joint.

[0112] Optionally, the compensation torque calculation module 303 is specifically used for:

[0113] Calculating the input second acceleration, the speed difference and the acceleration difference through the target compensation term model to obtain an inertia force compensation term;

[0114] The target compensation torque is determined according to the inertia force compensation term and the first speed.

[0115] Optionally, the inertia force compensation device of the integrated joint further includes: a motion simulation module, a noise reduction processing module, an original model construction module, a gain parameter calculation module and a compensation model determination module;

[0116] The simulated motion module is used to control the target integrated joint to perform a simulated motion corresponding to the target motion before calculating the first velocity, the second acceleration, the velocity difference and the acceleration difference input by the inertia compensation model, and determine the acceleration timing data of the target integrated joint during the simulated motion;

[0117] The noise reduction processing module is used to perform noise reduction processing on the acceleration time series data through a target Butterworth low-pass filtering algorithm to obtain a first acceleration waveform;

[0118] The original model building module is used to determine preliminary gain parameters, build an original compensation item model based on the preliminary gain parameters, and determine a second acceleration waveform corresponding to the acceleration time series data through the original compensation item model;

[0119] The gain parameter calculation module is used to determine a target gain parameter according to the first acceleration waveform, the second acceleration waveform and a preliminary gain parameter, wherein the target gain parameter includes a first gain parameter and a second gain parameter;

[0120] The compensation model determination module is used to determine the target compensation item model based on the target gain parameter, and to construct the inertia compensation model based on the target compensation item model.

[0121] Optionally, the gain parameter calculation module includes: a waveform comparison unit and a gain parameter determination unit;

[0122] The waveform comparison unit is used to compare the first acceleration waveform with the second acceleration waveform to obtain a waveform comparison result, wherein the waveform comparison result includes an overshoot comparison result and / or a steady-state error comparison result;

[0123] The gain parameter determination unit is configured to determine the target gain parameter based on the preliminary gain parameter when the waveform comparison result meets the target condition.

[0124] Optionally, the gain parameter determination unit is specifically used to:

[0125] The dragging feel data of the target integrated joint under the preliminary gain parameters is determined, and the preliminary gain parameters are adjusted based on the dragging feel data to obtain the target gain parameters.

[0126] Optionally, the gain parameter calculation module further includes: a return execution unit and an execution stop unit;

[0127] Wherein, the return execution unit is used for, after obtaining the waveform comparison result, if the waveform comparison result does not meet the target condition, adjusting the preliminary gain parameter based on the waveform comparison result, and returning to execute the operation of performing denoising processing on the acceleration time series data through the target Butterworth low-pass filtering algorithm for the adjusted preliminary gain parameter to obtain a first acceleration waveform, determining a second acceleration waveform corresponding to the acceleration time series data through the original compensation item model, and comparing the first acceleration waveform with the second acceleration waveform to obtain a waveform comparison result;

[0128] The execution stopping unit is used to determine the target gain parameter based on the adjusted preliminary gain parameter until the waveform comparison result meets the target condition.

[0129] Optionally, the simulated motion module is specifically used for:

[0130] Recording speed time series data of the target integrated joint during the simulated motion, wherein the speed time series data includes a plurality of recording time points and a recording speed corresponding to each of the recording time points;

[0131] The velocity time series data is differentiated to obtain acceleration time series data corresponding to the velocity time series data, wherein the acceleration time series data includes the recorded acceleration corresponding to each of the recorded time points.

[0132] Optionally, the inertia force compensation device of the integrated joint further includes: an algorithm parameter determination module and a target algorithm determination module;

[0133] The algorithm parameter determination module is used to determine the target filtering parameters of the Butterworth low-pass filtering algorithm before the acceleration time series data is subjected to noise reduction processing by the target Butterworth low-pass filtering algorithm, wherein the target filtering parameters include the filter order and / or the cutoff frequency;

[0134] The target algorithm determination module is used to determine the target Butterworth low-pass filtering algorithm based on the target filtering parameters.

[0135] The inertia force compensation device for an integrated joint provided in an embodiment of the present invention can execute the inertia force compensation method for an integrated joint provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0136] Embodiment 4

[0137] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0138] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0139] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0140] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the inertial force compensation method of the integrated joint.

[0141] In some embodiments, the inertia force compensation method of the integrated joint can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the inertia force compensation method of the integrated joint described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the inertia force compensation method of the integrated joint by any other appropriate means (for example, by means of firmware).

[0142] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0144] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0146] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0147] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0148] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0149] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for compensating inertia force of an integrated joint, characterized in that: include: Determine a target integrated joint to be subjected to inertia force compensation; During the target movement of the target integrated joint, determining a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point; Determine a speed difference according to the first speed and the second speed, and determine an acceleration difference according to the first acceleration and the second acceleration; Calculating the input first speed, second acceleration, speed difference and acceleration difference through an inertia compensation model to obtain a target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the target compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; Based on the target compensation torque, inertia force compensation is performed on the integrated joint at the first time point until the target movement of the target integrated joint ends.

2. The method according to claim 1, characterized in that The step of calculating the first speed, the second acceleration, the speed difference and the acceleration difference inputted by the inertia compensation model to obtain a target compensation torque includes: Calculating the input second acceleration, the speed difference and the acceleration difference through the target compensation term model to obtain an inertia force compensation term; The target compensation torque is determined according to the inertia force compensation term and the first speed.

3. The method according to claim 1, characterized in that Before calculating the input first speed, second acceleration, speed difference and acceleration difference by using the inertia compensation model, the method further includes: Controlling the target integrated joint to perform a simulated movement corresponding to the target movement, and determining acceleration time series data of the target integrated joint during the simulated movement; Performing noise reduction processing on the acceleration time series data by using a target Butterworth low-pass filter algorithm to obtain a first acceleration waveform; Determine preliminary gain parameters, construct an original compensation term model based on the preliminary gain parameters, and determine a second acceleration waveform corresponding to the acceleration time series data through the original compensation term model; Determine a target gain parameter according to the first acceleration waveform, the second acceleration waveform and a preliminary gain parameter, wherein the target gain parameter includes a first gain parameter and a second gain parameter; The target compensation term model is determined based on the target gain parameter, and the inertia compensation model is constructed based on the target compensation term model.

4. The method according to claim 3, characterized in that The determining the target gain parameter according to the first acceleration waveform, the second acceleration waveform and the preliminary gain parameter comprises: Comparing the first acceleration waveform and the second acceleration waveform to obtain a waveform comparison result, wherein the waveform comparison result includes an overshoot comparison result and / or a steady-state error comparison result; In a case where the waveform comparison result meets the target condition, the target gain parameter is determined based on the preliminary gain parameter.

5. The method according to claim 4, characterized in that The determining the target gain parameter based on the preliminary gain parameter comprises: The dragging feel data of the target integrated joint under the preliminary gain parameters is determined, and the preliminary gain parameters are adjusted based on the dragging feel data to obtain the target gain parameters.

6. The method according to claim 4, characterized in that After obtaining the waveform comparison result, the method further includes: In the case where the waveform comparison result does not meet the target condition, the preliminary gain parameter is adjusted based on the waveform comparison result, and for the adjusted preliminary gain parameter, the operation of performing noise reduction processing on the acceleration time series data through the target Butterworth low-pass filtering algorithm to obtain a first acceleration waveform, determining a second acceleration waveform corresponding to the acceleration time series data through the original compensation item model, and comparing the first acceleration waveform with the second acceleration waveform to obtain a waveform comparison result is returned; Until the waveform comparison result meets the target condition, the target gain parameter is determined based on the adjusted preliminary gain parameter.

7. The method according to claim 3, characterized in that The step of determining the acceleration time series data of the target integrated joint during the simulated motion process includes: Recording speed time series data of the target integrated joint during the simulated motion, wherein the speed time series data includes a plurality of recording time points and a recording speed corresponding to each of the recording time points; The velocity time series data is differentiated to obtain acceleration time series data corresponding to the velocity time series data, wherein the acceleration time series data includes the recorded acceleration corresponding to each of the recorded time points.

8. The method according to claim 3, characterized in that Before the acceleration time series data is subjected to noise reduction processing by the target Butterworth low-pass filtering algorithm, the method further includes: Determining target filtering parameters of a Butterworth low-pass filtering algorithm, wherein the target filtering parameters include a filter order and / or a cutoff frequency; The Butterworth low-pass filtering algorithm of the target is determined based on the target filtering parameters.

9. An inertia force compensation device for an integrated joint, characterized in that: include: A target object determination module, used for determining a target integrated joint to be subjected to inertia force compensation; a velocity data determination module, for determining a first velocity and a first acceleration of the target integrated joint at a first time point, and a second velocity and a second acceleration of the target integrated joint at a second time point during the target movement of the target integrated joint; a difference data calculation module, configured to determine a speed difference according to the first speed and the second speed, and to determine an acceleration difference according to the first acceleration and the second acceleration; a compensation torque calculation module, configured to calculate the first speed, the second acceleration, the speed difference and the acceleration difference inputted through an inertia compensation model to obtain a target compensation torque, wherein the inertia compensation model includes a target compensation item model, and the target compensation item model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the speed difference; An inertia force compensation module is used to perform inertia force compensation on the integrated joint at the first time point based on the target compensation torque until the target movement of the target integrated joint ends.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the inertia force compensation method for an integrated joint according to any one of claims 1 to 8 when executed.

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