Methods, devices, equipment and media for inertial force compensation of integrated joints

Abstract

The application discloses an inertial force compensation method, device and equipment of an integrated joint and a medium. The method comprises the following steps: determining a target integrated joint to be subjected to inertial force compensation; determining a first speed and a first acceleration of the target integrated joint at a first time point and a second speed and a second acceleration of the target integrated joint at a second time point in the process of target motion of the target integrated joint; 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 second acceleration, the speed difference value and the acceleration difference value through an inertial compensation model to obtain a target compensation torque; and compensating the inertial force of the integrated joint at the first time point based on the target compensation torque. The application can improve the accuracy of inertial force compensation of the integrated joint.

Description

Technical Field

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

[0002] Currently, surgical robots are being used more and more frequently. A good robotic arm dragging feel can effectively avoid operational risks during the application of surgical robots, while the inertial force compensation of integrated joints can effectively improve the dragging feel of robotic arms.

[0003] In related technologies, linear inertial force compensation for integrated joints is usually based on acceleration. However, this inertial force compensation method is difficult to meet the user's robotic arm dragging feel, that is, the accuracy of inertial force compensation for integrated joints is poor. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for inertial force compensation of an integrated joint, in order to solve the technical problem of poor accuracy in inertial force compensation of integrated joints.

[0005] According to one aspect of the present invention, an inertial force compensation method for an integrated joint is provided, wherein the method includes:

[0006] Identify the target integrated joint for which inertial force compensation is to be performed;

[0007] During the target integrated joint's target motion, the first velocity and first acceleration of the target integrated joint at a first time point, and the second velocity and second acceleration of the target integrated joint at a second time point are determined.

[0008] The velocity difference is determined based on the first velocity and the second velocity, and the acceleration difference is determined based on the first acceleration and the second acceleration;

[0009] The target compensation torque is obtained by calculating the first velocity, the second acceleration, the velocity difference, and the acceleration difference using an inertial compensation model. The inertial compensation model includes a target compensation term model, which includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference.

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

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

[0012] The target object determination module is used to determine the target integrated joint to be compensated for inertial forces.

[0013] The velocity data determination module is used to determine the first velocity and first acceleration of the target integrated joint at a first time point, and the second velocity and second acceleration of the target integrated joint at a second time point during the target integrated joint's target motion.

[0014] The difference data calculation module is used to determine the speed difference based on the first speed and the second speed, and to determine the acceleration difference based on the first acceleration and the second acceleration;

[0015] The compensation torque calculation module is used to calculate the target compensation torque by using an inertial compensation model to calculate the input first velocity, second acceleration, velocity difference, and acceleration difference. The inertial compensation model includes a target compensation term model, and the compensation term model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference.

[0016] An inertial force compensation module is used to perform inertial force compensation on the integrated joint at the first time point based on the target compensation torque, until the target motion 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, which enables the at least one processor to perform the inertial force compensation method for an integrated joint according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the inertial force compensation method of the integrated joint according to any embodiment of the present invention.

[0022] The technical solution of this invention involves determining a target integrated joint for inertial force compensation; 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 motion of the target integrated joint; determining a velocity difference based on the first velocity and the second velocity, and an acceleration difference based on the first acceleration and the second acceleration; calculating a target compensation torque by using an inertial compensation model on the input first velocity, second acceleration, velocity difference, and acceleration difference, wherein the inertial compensation model includes a target compensation term model, and the compensation term model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference; and performing inertial force compensation on the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends. This invention achieves nonlinear real-time automated compensation of the inertial force of the integrated joint using real-time motion data during the target motion process, improving the accuracy of inertial force compensation for the integrated joint.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of an inertial force compensation method for an integrated joint according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of an inertial force compensation method for an integrated joint according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a flowchart of the training process for a target compensation term model provided in an embodiment of the present invention;

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

[0029] Figure 5This is an overall flowchart of an inertial force compensation method for an integrated joint according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of an integrated joint inertial force compensation device according to Embodiment 3 of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of an electronic device that implements the inertial force compensation method of the integrated joint in this embodiment of the invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1 This is a flowchart illustrating an inertial force compensation method for an integrated joint according to Embodiment 1 of the present invention. This embodiment is applicable to situations where real-time automatic nonlinear inertial force compensation of an integrated joint is performed using an inertial compensation model. This method can be executed by an inertial force compensation device for the integrated joint, which can be implemented in hardware and / or software and can be configured in a computer. Figure 1 As shown, the method includes:

[0036] S101. Identify the target integrated joint for which inertial force compensation is to be performed.

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

[0038] S102. During the target motion of the integrated target joint, determine the first velocity and first acceleration of the integrated target joint at a first time point, and the second velocity and second acceleration of the integrated target joint at a second time point.

[0039] The target motion can be understood as the motion of the integrated target joint. Optionally, the target motion can be the motion of the integrated target joint during the control of the robotic arm's lifting and lowering process. In this embodiment of the invention, the target motion can be related to the actual application scenario and is not specifically limited here. For example, the target motion can be linear motion, etc.

[0040] The first time point can be understood as a real-time time point or the current time point. The second time point can be understood as the previous historical time point corresponding to the first time point. Further explanation: this invention performs inertial force compensation on the integrated joint in real time. A relevant inertial force compensation cycle can be preset. For example, the preset inertial force compensation cycle is 1 second. Correspondingly, during the target integrated joint's target movement, the data acquisition cycle for velocity and acceleration is also 1 second. Therefore, the first time point is the real-time time point, and the second time point is the time point corresponding to the 1 second preceding the first time point.

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

[0042] Velocity. The second velocity can be understood as the velocity at the previous historical point in time, and the second acceleration can be understood as the acceleration at the previous historical point in time.

[0043] S103. Determine the speed difference based on the first speed and the second speed, and determine the acceleration difference based on the first acceleration and the second acceleration.

[0044] The velocity difference can be understood as the difference between the first velocity and the second velocity. The acceleration difference can be understood as the difference between the first acceleration and the second acceleration.

[0045] S104. The first velocity, the second acceleration, the velocity difference, and the acceleration difference are calculated using an inertial compensation model to obtain the target compensation torque. The inertial compensation model includes a target compensation term model, which includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference.

[0046] The inertial compensation model can be understood as a model capable of calculating inertial compensation torque. The input data of the inertial compensation model can be the first velocity, the second acceleration, the velocity difference, and the acceleration difference; the output data can be the calculated compensation torque.

[0047] The target compensation term model can be understood as a model capable of calculating parameters related to inertial force compensation. The input data of the target compensation term model are the second acceleration, the velocity difference, and the acceleration difference, and the output data can be the inertial force compensation term.

[0048] Optionally, the step of calculating the target compensation torque by using an inertial compensation model to analyze the input first velocity, second acceleration, velocity difference, and acceleration difference includes:

[0049] The inertial force compensation term is obtained by calculating the second acceleration, the velocity difference, and the acceleration difference input by the target compensation term model.

[0050] The target compensation torque is determined based on the inertial force compensation term and the first velocity.

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

[0052]

[0053] Where τ can represent the target compensation torque, It can represent the inertial force compensation term. It can represent the viscous friction force function related to velocity, F c It can represent Coulomb friction.

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

[0055]

[0056] in, It can represent the inertial force compensation term. It can represent the second acceleration. It can represent the difference in acceleration, K p This can represent the first gain parameter. It can represent the speed difference, K i It can represent the second gain parameter, and t can represent the first time point.

[0057] S105. Based on the target compensation torque, perform inertial force compensation on the integrated joint at the first time point until the target motion of the target integrated joint ends.

[0058] The technical solution of this invention involves determining a target integrated joint for inertial force compensation; 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 motion of the target integrated joint; determining a velocity difference based on the first velocity and the second velocity, and an acceleration difference based on the first acceleration and the second acceleration; calculating a target compensation torque by using an inertial compensation model on the input first velocity, second acceleration, velocity difference, and acceleration difference, wherein the inertial compensation model includes a target compensation term model, and the compensation term model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference; and performing inertial force compensation on the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends. This invention achieves nonlinear real-time automated compensation of the inertial force of the integrated joint using real-time motion data during the target motion process, improving the accuracy of inertial force compensation for the integrated joint.

[0059] Example 2

[0060] Figure 2 This is a flowchart of an integrated joint inertial force compensation method provided in Embodiment 2 of the present invention. This embodiment adds the calculation of the first input velocity, the second acceleration, the velocity difference, and the acceleration difference using the inertial compensation model described in the above embodiments. Figure 2 As shown, the method includes:

[0061] Figure 3 This is a flowchart illustrating the training process of a target compensation term model according to an embodiment of the present invention. Figure 3 As shown, the training process for the target compensation term model can be as follows.

[0062] S201. Control the target integrated joint to perform simulated motion corresponding to the target motion, and determine the acceleration timing data of the target integrated joint during the simulated motion.

[0063] The simulated motion can be understood as a motion that simulates the target motion. Related to the target motion, the simulated motion can be a reciprocating linear motion.

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

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

[0066] Record the velocity timing data of the target integrated joint during the simulated motion, wherein the velocity timing data includes multiple recording time points and the recording velocity corresponding to each recording time point;

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

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

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

[0070] S202. The acceleration time series data is denoised using the Butterworth low-pass filtering algorithm of the target to obtain the first acceleration waveform.

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

[0072] The first acceleration waveform can be understood as the waveform obtained by low-pass filtering the acceleration timing data, as shown in the reference. Figure 4 , Figure 4 This is a comparative example diagram of acceleration timing data and a first acceleration waveform provided according to an embodiment of the present invention.

[0073] Optionally, before performing noise reduction processing on the acceleration time-series data using the Butterworth low-pass filtering algorithm applied to the target, the method further includes:

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

[0075] The Butterworth low-pass filtering algorithm that determines the target based on the target filtering parameters.

[0076] Different Butterworth low-pass filtering algorithms with different filtering parameters can achieve different noise reduction effects. In this embodiment of the invention, the target filtering parameters corresponding to the Butterworth low-pass filtering algorithm can be preset based on user needs and actual application scenarios to improve the applicability of the acceleration waveform obtained by noise reduction based on the low-pass filtering algorithm in the process of training the target compensation term model, thereby improving the accuracy of the determined target compensation term model.

[0077] Specifically, the target filtering parameters of the Butterworth low-pass filter algorithm can be determined with reference to the following formula:

[0078]

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

[0080] S203. Determine the preliminary gain parameters, construct the original compensation term model based on the preliminary gain parameters, and determine the second acceleration waveform corresponding to the acceleration time series data through the original compensation term model.

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

[0082] The original compensation term model can be understood as a compensation term model constructed based on the initial gain parameters.

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

[0084] In this embodiment of the invention, the execution of S202 and S203 can be performed in any order, that is, the determination of the first acceleration waveform and the second acceleration waveform can be performed in any order. For example, S202 can be performed first, followed by S203; or, S203 can be performed first, followed by S202; or, S202 and S203 can be executed in parallel.

[0085] S204. Determine the target gain parameter based on the first acceleration waveform, the second acceleration waveform, and the preliminary gain parameter, wherein the target gain parameter includes the first gain parameter and the second gain parameter.

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

[0087] Optionally, determining the target gain parameter based on the first acceleration waveform, the second acceleration waveform, and the preliminary gain parameter includes:

[0088] The first acceleration waveform and the second acceleration waveform are compared to obtain waveform comparison results, wherein the waveform comparison results include overshoot comparison results and / or steady-state error comparison results;

[0089] If the waveform comparison results meet the target conditions, 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 this embodiment of the invention, the first acceleration waveform and the second acceleration waveform can be understood as two time-series waveforms. Specifically, when comparing the first acceleration waveform and the second acceleration waveform, the times of the two time-series 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 exceed 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] Determine the drag feel data of the target integrated joint under the preliminary gain parameters, and adjust the preliminary gain parameters based on the drag feel data to obtain the target gain parameters.

[0094] The dragging feel data can be determined using feel evaluation data from multiple operating objects of the target integrated joint under the preliminary gain parameters. These operating objects can be personnel skilled in the art. For example, the dragging feel data is determined based on the average dragging value of multiple feel evaluation data.

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

[0096] If the waveform comparison result does not meet the target condition, the preliminary gain parameter is adjusted based on the waveform comparison result. For the adjusted preliminary gain parameter, the Butterworth low-pass filtering algorithm is returned to perform noise reduction processing on the acceleration time series data to obtain the first acceleration waveform. The second acceleration waveform corresponding to the acceleration time series data is determined through the original compensation term model. The first acceleration waveform and the second acceleration waveform are compared to obtain the waveform comparison result.

[0097] Until the waveform comparison results meet the target conditions, the target gain parameter is determined based on the adjusted preliminary gain parameter.

[0098] S205. Determine the target compensation term model based on the target gain parameter, and construct the inertial compensation model based on the target compensation term model.

[0099] S206. Identify the target integrated joint for which inertial force compensation is to be performed.

[0100] S207. During the target motion of the integrated target joint, determine the first velocity and first acceleration of the integrated target joint at a first time point, and the second velocity and second acceleration of the integrated target joint at a second time point.

[0101] S208. Determine the speed difference based on the first speed and the second speed, and determine the acceleration difference based on the first acceleration and the second acceleration.

[0102] S209. The target compensation torque is obtained by calculating the first velocity, the second acceleration, the velocity difference, and the acceleration difference using an inertial compensation model.

[0103] S210. Based on the target compensation torque, perform inertial force compensation on the integrated joint at the first time point until the target motion of the target integrated joint ends.

[0104] The technical solution of this invention improves the calculation accuracy of the inertial force compensation torque of the determined inertial compensation model by controlling the integrated joint of the target to perform simulated motion corresponding to the target motion; denoising the acceleration time-series data of the integrated joint of the target during the simulated motion using a Butterworth low-pass filtering algorithm for the target to obtain a first acceleration waveform; determining preliminary gain parameters, constructing an original compensation term model based on the preliminary gain parameters, and determining a second acceleration waveform corresponding to the acceleration time-series data using the original compensation term model; determining target gain parameters based on the first acceleration waveform, the second acceleration waveform, and the preliminary gain parameters, wherein the target gain parameters include a first gain parameter and a second gain parameter; and determining the target compensation term model based on the target gain parameters and constructing the inertial compensation model based on the target compensation term model.

[0105] The above is an optional embodiment of the embodiments. Figure 5 This is an overall flowchart of an inertial force compensation method for an integrated joint according to an embodiment of the present invention. Figure 5 As shown, optionally, the overall process of the inertial force compensation method for the integrated joint can be as follows:

[0106] This invention discloses a method for inertial force compensation of an integrated joint in a surgical robot based on the principle of error dynamics. Specifically, it involves collecting time-series data (velocity, acceleration) of the integrated joint motion; performing noise reduction processing on the collected data using low-pass filtering to obtain time-series waveforms, thereby improving the data's feature representation capability; training a compensation term model in a dynamic model (i.e., an inertial compensation model) using the time-series waveforms and time-series data; and performing real-time inertial force compensation of the integrated joint based on the inertial compensation model containing the trained compensation term model.

[0107] This invention can effectively suppress acceleration noise during data processing, optimize startup feel, and the inertial compensation model is highly versatile and easy to debug.

[0108] Example 3

[0109] Figure 6 This is a structural schematic diagram of an integrated joint inertial force compensation device provided in Embodiment 3 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 inertial force compensation module 304.

[0110] The system includes: a target object determination module 301 for determining the target integrated joint to be compensated for inertial force; a velocity data determination module for determining the first velocity and first acceleration of the target integrated joint at a first time point, and the second velocity and second acceleration of the target integrated joint at a second time point during the target motion of the target integrated joint; a difference data calculation module 302 for determining the velocity difference based on the first velocity and the second velocity, and the acceleration difference based on the first acceleration and the second acceleration; a compensation torque calculation module 303 for calculating the target compensation torque by using an inertial compensation model on the input first velocity, second acceleration, velocity difference, and acceleration difference, wherein the inertial compensation model includes a target compensation term model, which includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference; and an inertial force compensation module 304 for performing inertial force compensation on the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends.

[0111] The technical solution of this invention involves determining a target integrated joint for inertial force compensation; 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 motion of the target integrated joint; determining a velocity difference based on the first velocity and the second velocity, and an acceleration difference based on the first acceleration and the second acceleration; calculating a target compensation torque by using an inertial compensation model on the input first velocity, second acceleration, velocity difference, and acceleration difference, wherein the inertial compensation model includes a target compensation term model, and the compensation term model includes a first gain parameter corresponding to the acceleration difference and a second gain parameter corresponding to the velocity difference; and performing inertial force compensation on the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends. This invention achieves nonlinear real-time automated compensation of the inertial force of the integrated joint using real-time motion data during the target motion process, improving the accuracy of inertial force compensation for the integrated joint.

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

[0113] The inertial force compensation term is obtained by calculating the second acceleration, the velocity difference, and the acceleration difference input by the target compensation term model.

[0114] The target compensation torque is determined based on the inertial force compensation term and the first velocity.

[0115] Optionally, the inertial 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 simulated motion corresponding to the target motion before the first velocity, the second acceleration, the velocity difference and the acceleration difference are calculated by the inertial compensation model, and to determine the acceleration timing data of the target integrated joint during the simulated motion.

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

[0118] The original model construction module is used to determine the initial gain parameters, construct the original compensation term model based on the initial gain parameters, and determine the second acceleration waveform corresponding to the acceleration time series data through the original compensation term model.

[0119] The gain parameter calculation module is used to determine the target gain parameter based on 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;

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

[0123] The gain parameter determination unit is used to determine the target gain parameter based on the preliminary gain parameter, provided that the waveform comparison result meets the target condition.

[0124] Optionally, the gain parameter determining unit is specifically used for:

[0125] Determine the drag feel data of the target integrated joint under the preliminary gain parameters, and adjust the preliminary gain parameters based on the drag 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] The return execution unit is configured to, after obtaining the waveform comparison result, adjust the preliminary gain parameter based on the waveform comparison result if the waveform comparison result does not meet the target condition, and, for the adjusted preliminary gain parameter, return to execute the operation of performing noise reduction processing on the acceleration time series data through the Butterworth low-pass filtering algorithm of the target to obtain a first acceleration waveform, determine the second acceleration waveform corresponding to the acceleration time series data through the original compensation term model, compare the first acceleration waveform and the second acceleration waveform to obtain the waveform comparison result;

[0128] The execution stop 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] Record the velocity timing data of the target integrated joint during the simulated motion, wherein the velocity timing data includes multiple recording time points and the recording velocity corresponding to each recording time point;

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

[0132] Optionally, the inertial 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 denoised by the Butterworth low-pass filtering algorithm, wherein the target filtering parameters include the filter order and / or cutoff frequency.

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

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

[0136] Example 4

[0137] Figure 7 A schematic diagram of an electronic device 10 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0142] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0145] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0146] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0147] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0148] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0149] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An inertia force compensation method for an integrated joint, characterized by, The method comprises the following steps: determining a target integrated joint to be compensated for inertial force; determining a first speed and a first acceleration of the target integrated joint at a first time point and a second speed and a second acceleration of the target integrated joint at a second time point during a process of performing a target motion on the target integrated joint; 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 first speed, the second acceleration, the speed difference value and the acceleration difference value by using an inertial compensation model to obtain a target compensation torque, wherein the inertial compensation model comprises a target compensation term model, and the target compensation term model comprises a first gain parameter corresponding to the acceleration difference value and a second gain parameter corresponding to the speed difference value; compensating for inertial force of the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends.

2. The method of claim 1, wherein, The calculation of the target compensation torque by using the inertial compensation model on the input first speed, second acceleration, speed difference value and acceleration difference value comprises: calculating the second acceleration, speed difference value and acceleration difference value by using the target compensation term model to obtain an inertial force compensation term; determining the target compensation torque according to the inertial force compensation term and the first speed.

3. The method of claim 1, wherein, Before the calculation of the target compensation torque by using the inertial compensation model on the input first speed, second acceleration, speed difference value and acceleration difference value, the method further comprises the following steps: controlling the target integrated joint to perform a simulation motion corresponding to the target motion to determine acceleration time series data of the target integrated joint during the simulation motion; 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; determining a preliminary gain parameter, constructing an original compensation term model based on the preliminary gain parameter, and determining a second acceleration waveform corresponding to the acceleration time series data by using the original compensation term model; determining a target gain parameter according to the first acceleration waveform, the second acceleration waveform and the preliminary gain parameter, wherein the target gain parameter comprises a first gain parameter and a second gain parameter; determining the target compensation term model based on the target gain parameter and constructing the inertial compensation model based on the target compensation term model.

4. The method of claim 3, wherein, The determination of 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 comprises an overshoot comparison result and / or a steady-state error comparison result; determining the target gain parameter based on the preliminary gain parameter in a case where the waveform comparison result meets a target condition.

5. The method of claim 4, wherein, The determination of the target gain parameter based on the preliminary gain parameter comprises: Determine the drag feel data of the target integrated joint under the preliminary gain parameter, and adjust the preliminary gain parameter based on the drag feel data to obtain the target gain parameter.

6. The method of claim 4, wherein, After the waveform comparison result is obtained, further comprising: In the case where the waveform comparison result does not satisfy the target condition, adjusting the preliminary gain parameter based on the waveform comparison result, and returning to execute the operation of performing noise reduction processing on the acceleration time series data by the target Butterworth low-pass filtering algorithm based on the adjusted preliminary gain parameter to obtain a first acceleration waveform, determining a second acceleration waveform corresponding to the acceleration time series data by the original compensation term model, and comparing the first acceleration waveform and the second acceleration waveform to obtain a waveform comparison result; Until in the case where the waveform comparison result satisfies the target condition, determining the target gain parameter based on the adjusted preliminary gain parameter.

7. The method of claim 3, wherein, The determination of the acceleration time series data of the target integrated joint during the simulation motion process comprises: Recording the speed time series data of the target integrated joint during the simulation motion process, wherein the speed time series data includes a plurality of recording time points and a recording speed corresponding to each recording time point; Differential processing of the speed time series data to obtain acceleration time series data corresponding to the speed time series data, wherein the acceleration time series data includes a recording acceleration corresponding to each recording time point.

8. The method of claim 3, wherein, Before the acceleration time series data is processed by the target Butterworth low-pass filtering algorithm, further comprising: Determining the target filtering parameter of the Butterworth low-pass filtering algorithm, wherein the target filtering parameter includes the filter order and / or the cutoff frequency; Determining the target Butterworth low-pass filtering algorithm based on the target filtering parameter.

9. An inertia force compensating device for an integrated joint, characterized by Comprise: A target object determination module for determining a target integrated joint to be subjected to inertial force compensation; A speed data determination module for determining a first speed and a first acceleration of the target integrated joint at a first time point and a second speed and a second acceleration of the target integrated joint at a second time point during the target motion of the target integrated joint; A difference data calculation module for 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; A compensation torque calculation module for calculating the input first speed, second acceleration, speed difference value and acceleration difference value by an inertial compensation model to obtain a target compensation torque, wherein the inertial compensation model includes a target compensation term model, and the target compensation term model includes a first gain parameter corresponding to the acceleration difference value and a second gain parameter corresponding to the speed difference value; An inertial force compensation module for compensating the integrated joint at the first time point based on the target compensation torque until the target motion of the target integrated joint ends.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to implement the inertial force compensation method of the integrated joint according to any one of claims 1-8 when executed.

Images