Intelligent mechanical arm control method and device based on flexibility

Abstract

The invention provides a mechanical arm intelligent control method and device based on flexibility, and the method comprises the steps that structural parameters and working parameters of a mechanical arm are obtained, and the initial position height of the mechanical arm is adjustable; on the basis of the structure parameters and the working parameters, the space flexibility of the mechanical arm is generated; based on the space flexibility, the starting position height and the motion path of the mechanical arm are adjusted; and based on the adjusted motion path, the mechanical arm is controlled to execute corresponding operation. According to the method and the device, the flexibility of the mechanical arm in the working space is evaluated, so that planning adjustment is performed based on the evaluation, and the risk problems of limited operation preparation position or singular position and the like are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and more specifically, to a flexibility-based intelligent control method and device for a robotic arm. Background Art

[0002] In a navigation surgical robot, the surgical robot performs surgical planning within the reachable area and the robotic arm performs the corresponding planned operations. However, due to the existence of singular positions of the robotic arm, the surgical robot may have problems with handling singular positions or limited angles in the surgical preparation position, which brings great risks to normal surgery or assisted surgery. Summary of the invention

[0003] The problem that this application solves is the joint space of the robotic arm and the risk problem that may exist in the surgical preparation position.

[0004] To solve the above problems, the first aspect of the present application provides a flexibility-based intelligent control method for a robotic arm, comprising:

[0005] Acquiring structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable;

[0006] Based on the structural parameters and the working parameters, generating the spatial flexibility of the robot arm;

[0007] Based on the spatial flexibility, adjusting the starting height and movement path of the robot arm;

[0008] Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations.

[0009] The second aspect of the present application provides a flexibility-based intelligent control device for a robotic arm, comprising:

[0010] A parameter acquisition module, which is used to acquire the structural parameters and working parameters of the robotic arm, the starting position height of the robotic arm being adjustable;

[0011] A flexibility generation module, which is used to generate the spatial flexibility of the robot arm based on the structural parameters and the working parameters;

[0012] A robot arm adjustment module, which is used to adjust the starting height and movement path of the robot arm based on the spatial flexibility;

[0013] The robot arm control module is used to control the robot arm to perform corresponding operations based on the adjusted motion path.

[0014] A third aspect of the present application provides an electronic device, comprising: a memory and a processor;

[0015] The memory is used to store programs;

[0016] The processor, coupled to the memory, is configured to execute the program to:

[0017] Acquiring structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable;

[0018] Based on the structural parameters and the working parameters, generating the spatial flexibility of the robot arm;

[0019] Based on the spatial flexibility, adjusting the starting height and movement path of the robot arm;

[0020] Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations.

[0021] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the above-mentioned flexibility-based intelligent control method for a robotic arm.

[0022] In this application, the flexibility of the robotic arm in the workspace is evaluated, and planning adjustments are made based on the evaluation to avoid risk issues such as restricted surgical preparation positions or odd positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a flexibility-based intelligent control method for a robotic arm according to an embodiment of the present application;

[0024] Figure 2 A flowchart of flexibility generation of a flexibility-based intelligent control method for a robotic arm according to an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the spatial flexibility of the flexibility-based intelligent control method for a robotic arm according to an embodiment of the present application;

[0026] Figure 4 is a structural block diagram of a robot arm intelligent control device based on flexibility according to an embodiment of the present application;

[0027] Figure 5 is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0029] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0030] In response to the above problems, the present application provides a new flexibility-based intelligent control solution for a robotic arm, which can effectively implement force guidance and solve the problem of the robotic arm joint space and the operator's inability to intuitively guide the joint angle to a more appropriate angle.

[0031] The present application embodiment provides a method for intelligent control of a robotic arm based on flexibility, and the specific scheme of the method is as follows: Figure 1-Figure 3 As shown, the method can be performed by a robot arm intelligent control device based on flexibility, and the robot arm intelligent control device based on flexibility can be integrated into electronic devices such as computers, servers, computers, server clusters, and data centers. Figure 1 As shown, it is a flow chart of a method for intelligent control of a robotic arm based on flexibility according to an embodiment of the present application; wherein the method for intelligent control of a robotic arm based on flexibility includes:

[0032] S101, obtaining structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable;

[0033] In the present application, the structural parameters of the robotic arm refer to the structural dimensions and interconnection relationships of the robotic arm.

[0034] In the present application, a dynamic model of the robotic arm can be constructed based on the structural parameters of the robotic arm.

[0035] Among them, the robot arm dynamics model is a mathematical model that describes the relationship between the force and motion of the robot arm during the movement process. It can be divided into forward dynamics and inverse dynamics. The forward dynamics problem is to calculate the motion (acceleration, velocity and position) of each joint of the robot arm when the torque or force of each joint of the robot arm is known; the inverse dynamics problem is to calculate the joint torque or force required to achieve this motion when the motion (position, velocity and acceleration) of each joint of the robot arm is known.

[0036] Analyzing the robotic arm, it can be seen that the robotic arm is formed by connecting several rods (the place where two rods are connected is a joint), and these rods in the robotic arm are called connecting rods. Each connecting rod can rotate around a certain axis based on the husband connecting rod (the previous connecting rod) (the joint drives the connecting rod to rotate through the motor rotation), and this axis is only relative to the husband connecting rod. This results in that once multiple connecting rods are moving, the connecting rod can only have a direct spatial conversion relationship with the "previous level connecting rod" and the "next level connecting rod", that is, when the rotation angle of the first connecting rod (the pitch angle of the rotating joint) is determined, the specific position of the first connecting rod can be calculated according to the spatial coordinates of the base, and then the position of the end robotic arm can be obtained by calculating backward one level at a time, which is the end position of the loading and unloading ratio.

[0037] In summary, it can be seen that in the motion state of the robot arm, the coordinates of the tool at the end of the robot arm can be determined by knowing the posture of the robot arm (corresponding data / rotation data of each joint). Conversely, if the coordinates of the tool at the end of the robot arm (expected posture) are known, the posture of the robot arm (expected joint angle of each joint) can be determined by inverse kinematics solution.

[0038] In the present application, the starting position height of the robot arm is adjustable, which means that the height of the installation position / installation platform of the robot arm is adjustable, so that all the position coordinates of the robot arm are adjusted synchronously according to the height (that is, the remaining positions of the robot arm will follow the height synchronization movement).

[0039] In the present application, after the height of the starting position of the robot arm changes, the coordinates of its preparation position remain fixed. Based on the relative motion, it can also be regarded as the robot arm remaining unchanged, and the preparation position moves toward it (the movement is the same size as the movement of the starting position, but in the opposite direction).

[0040] In the present application, the working parameters of the robotic arm may include the constraint parameters of the robotic arm, that is, constraints such as the maximum value and minimum value of each joint angle on the robotic arm.

[0041] S102, generating the spatial flexibility of the robot arm based on the structural parameters and the working parameters;

[0042] The spatial flexibility of the robot arm is Figure 3 shown.

[0043] In one embodiment, the spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm workspace, and the value of each point of the flexibility point cloud represents the flexibility of the robotic arm when the end tool of the robotic arm is at that coordinate.

[0044] In the present application, the robotic arm has a space fixed to the robotic arm itself, which serves as the working space of the robotic arm. Due to the nature of the robotic arm itself, the feasible postures of its end reaching each point in the working space are fixed. For example, the robotic arm has three postures that allow the end to reach coordinate point A of the working space. No matter how the starting position of the robotic arm changes, the robotic arm still reaches coordinate point A of the working space in these three postures.

[0045] The flexibility point cloud of the robot arm in the robot arm workspace, that is, when the end of the robot arm is at the coordinate point A in the workspace, it has a flexibility evaluation value, which is used to evaluate the flexibility of the end of the robot arm at point A, and this value is the value of point A.

[0046] Preferably, each posture of the robotic arm corresponds to a coordinate point, but each coordinate point may correspond to multiple postures of the robotic arm (it may also correspond to only one posture, or no posture); each posture of the robotic arm also has a flexibility evaluation. When the same coordinate point has multiple flexibility evaluations, the final evaluation value can be determined based on the corresponding multiple flexibility evaluations.

[0047] Preferably, the final evaluation value is determined according to the corresponding multiple flexibility evaluations, and the flexibility evaluation with the smallest value is selected as the final evaluation value. This increases the stringent restrictions on flexibility, so that the actual flexibility of the robot arm motion path that follows the restrictions remains stable, avoiding the problem of high flexibility in theory but limited in actual execution.

[0048] S103, adjusting the starting height and movement path of the robot arm based on the spatial flexibility;

[0049] In the present application, after the starting position height of the robot arm is adjusted, its coordinates in the workspace can remain unchanged, but the height in the actual space changes; that is, in the workspace, the preparation position coordinates are adjusted, and the motion path from the starting position to the preparation position is planned, and then the starting position coordinates, preparation position coordinates, and the motion path from the starting position to the preparation position in the workspace are mapped to the actual space for execution.

[0050] S104, based on the adjusted motion path, controlling the robot arm to perform corresponding operations.

[0051] In this application, the flexibility of the robotic arm in the workspace is evaluated, and planning adjustments are made based on the evaluation to avoid risk issues such as restricted surgical preparation positions or odd positions.

[0052] In one embodiment, S103, adjusting the starting height and the motion path of the robot arm based on the spatial flexibility includes:

[0053] Delete points whose flexibility is less than the preset value;

[0054] According to the density of the flexibility point cloud after deletion, the flexibility point cloud area is divided to determine the dense area;

[0055] Obtain the preparation position coordinates and preparation position posture of the robot arm;

[0056] Adjusting the starting position height of the robot arm so that the preparation position coordinates fall into the dense area;

[0057] According to the starting position of the robot arm and the coordinates and posture of the preparation position, the motion path is planned and adjusted so that the motion path falls into the dense area.

[0058] In this application, spatial flexibility refers to the comprehensive flexibility of the coordinate point.

[0059] In the present application, the preset value is set or adjusted according to the actual situation; the preset value can also be set to the maximum value of all spatial flexibilities, so that only the coordinate points with the maximum flexibility are retained.

[0060] The dense area may be set as an area without blank coordinate points (deleted points), so that control with maximum flexibility can be achieved in the dense area.

[0061] Among them, the starting position height of the robot arm is adjusted so that the preparation position coordinates fall into the dense area; that is, the preparation position coordinates are adjusted in the workspace so that they fall into the dense area.

[0062] In the present application, by preparing the position and the motion path to fall into the dense area, maximum flexibility is ensured during the control of the robot arm to achieve stable control.

[0063] In one embodiment, in combination Figure 2 As shown, the S102, based on the structural parameters and the working parameters, generates the spatial flexibility of the robot arm, including:

[0064] S201, generating a workspace based on work parameters;

[0065] In the present application, the working parameters also include the initial coordinates of the starting position, that is, the coordinates of the starting position before adjustment.

[0066] In the present application, the workspace may be a three-dimensional space generated with the starting position as a determined position, and the robotic arm is mapped into the workspace through the starting position and the current posture of the robotic arm.

[0067] S202, in the workspace, based on the structural parameters, solving the Jacobian matrix and singular values ​​of the manipulator in the case of a singular configuration;

[0068] S203, calculating the corresponding operability according to the Jacobian matrix and the singular value;

[0069] In this application, maneuverability is defined as the ability of the end effector of the manipulator to generate speed or force in a certain direction. Specifically, it is usually expressed as the relationship between the speed or force in a direction and the speed or force of the manipulator joint, which can be quantified by the Jacobian Matrix and its related operations.

[0070] Among them, the Jacobian matrix of the robot arm is defined as the linear transformation of the operation speed and the joint speed, which can also be regarded as the transmission ratio of the movement speed between the configuration space and the operation space.

[0071] Among them, the direction vector is a unit vector representing a specific direction.

[0072] Based on the direction vector and the Jacobian matrix, the velocity maneuverability and the force maneuverability can be calculated. Based on the velocity maneuverability and the force maneuverability, the overall maneuverability can be determined.

[0073] Preferably, the operability measurement index can also be expressed as:

[0074] w=σ1σ2…σ m

[0075] Among them, w is the operability, σ i is the singular value of the Jacobian matrix, i = 1, 2, ..., m; m is the number of rows of the Jacobian matrix. The singular values ​​of the Jacobian matrix are arranged in descending order.

[0076] S204, normalizing the operability;

[0077] In one implementation, the normalization process of the operability is:

[0078]

[0079] in, is the normalized operability, σ i1 is the first singular value of the Jacobian matrix of the i-th step, w1 is the operability of the first step, and n is the total number of steps in the motion process.

[0080] S205, determining the corresponding relationship between the end position of the robot arm and the maneuverability according to the normalized maneuverability and the corresponding Jacobian matrix, and generating the spatial flexibility.

[0081] Among them, the operability corresponding to the coordinates of the end position is the spatial flexibility of the coordinate point.

[0082] In one embodiment, solving the Jacobian matrix and singular values ​​of the robot arm in a singular configuration based on the structural parameters includes:

[0083] Based on the structural parameters, solve all the joints that will cause the robot arm to have a singular configuration;

[0084] Based on the range of motion of the joint, sequentially taking values ​​of the joint within the range of motion;

[0085] Calculate the Jacobian matrix and its singular values ​​corresponding to each value of the joint.

[0086] In this application, a singular configuration refers to a situation where the robot arm loses its degree of freedom or the determinant of its Jacobian matrix is ​​zero at certain specific joint angles, resulting in the inability to control normally or perform tasks.

[0087] Singular configurations occur when the determinant of the Jacobian matrix is ​​zero (i.e., the Jacobian matrix is ​​degenerate), indicating that the joint angles are in a specific configuration that makes movement in some directions uncontrollable.

[0088] For each joint angle, calculate the Jacobian matrix. By solving the determinant of the Jacobian matrix, find the joint angle that makes it zero.

[0089] If the determinant of the Jacobian matrix is ​​zero for a certain combination of joint angles, then the joint angles corresponding to that combination result in a singular configuration.

[0090] In the present application, the singularity decoupling of the robot arm is performed, and its singularity solution is separated into the singularity problems of the first three joints and the singularity problems of the last three joints, thereby obtaining the joints with singular configurations.

[0091] Each joint of the robot has a certain range of motion. Any angle within this range will affect the appearance of singular configurations. After determining the joints that will cause singular configurations, we can take values ​​within the range of motion of these joints. Assuming that the range of motion of the joint is represented by discrete values, that is, the range of motion is divided into several equally spaced points, we can take these discrete values ​​one by one for analysis.

[0092] Take the discrete value of each joint in turn, compute the Jacobian matrix of the robot, and check whether the configuration results in a singular configuration.

[0093] In the present application, the Jacobian matrix can be subjected to singular value decomposition to solve the singular values ​​of the Jacobian matrix. The singular value represents the scale factor when the joint space is mapped to the operation space. A large singular value indicates that the movement of the end in this direction is very sensitive to the change of the joint, while a small singular value indicates that the end movement in this direction is insensitive to the change of the joint, and even cannot move when it is close to zero.

[0094] In one embodiment, generating the spatial flexibility of the robot arm based on the structural parameters and the working parameters further includes:

[0095] Normalizing the singular values;

[0096] Based on the Jacobian matrix and singular values ​​of the manipulator in the case of singular configuration, the corresponding relationship between the normalized singular values ​​and the joint values ​​is established;

[0097] Based on the correspondence between the normalized singular values ​​and the joint values, the change curves of the singular values ​​and the joint values ​​are drawn.

[0098] Among them, through the above steps, a curve of the change of singular values ​​with the joint angle value is made. Through the change curve, the characteristics of the corresponding joint can be intuitively observed, which is conducive to iterative adjustment of the angle range of the joint.

[0099] In one embodiment, the generating of the spatial flexibility of the robot arm based on the structural parameters and the working parameters further includes: iterating the angle range of the joint based on the change curve of the singular value and the joint value, so as to obtain a more suitable angle constraint of the joint.

[0100] An embodiment of the present application provides a flexibility-based intelligent control device for a robotic arm, which is used to execute the flexibility-based intelligent control method for a robotic arm described in the above content of the present application. The flexibility-based intelligent control device for a robotic arm is described in detail below.

[0101] like Figure 4 As shown, the flexibility-based intelligent control device for a robotic arm comprises:

[0102] A parameter acquisition module 101, which is used to acquire the structural parameters and working parameters of the robotic arm, wherein the starting position height of the robotic arm is adjustable;

[0103] A flexibility generation module 102, which is used to generate the spatial flexibility of the robot arm based on the structural parameters and the working parameters;

[0104] A robot arm adjustment module 103, which is used to adjust the starting height and movement path of the robot arm based on the spatial flexibility;

[0105] The robot arm control module 104 is used to control the robot arm to perform corresponding operations based on the adjusted motion path.

[0106] In one embodiment, the spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm workspace, and the value of each point of the flexibility point cloud represents the flexibility of the robotic arm when the end tool of the robotic arm is at that coordinate.

[0107] In one embodiment, the robot arm adjustment module 103 is further used to:

[0108] Delete points whose flexibility is less than a preset value; divide the flexibility point cloud area according to the density of the flexibility point cloud after deletion to determine the dense area; obtain the preparation position coordinates and preparation position posture of the robot arm; adjust the starting position height of the robot arm so that the preparation position coordinates fall into the dense area; plan and adjust the motion path according to the starting position of the robot arm and the preparation position coordinates and preparation position posture so that the motion path falls into the dense area.

[0109] In one embodiment, the flexibility generation module 102 is further configured to:

[0110] Based on the working parameters, a workspace is generated; in the workspace, based on the structural parameters, the Jacobian matrix and singular values ​​of the manipulator in the case of a singular configuration are solved; according to the Jacobian matrix and the singular values, the corresponding operability is calculated; the operability is normalized; according to the normalized operability and the corresponding Jacobian matrix, the corresponding relationship between the end position of the manipulator and the operability is determined, and the spatial flexibility is generated.

[0111] In one implementation, the normalization process of the operability is:

[0112]

[0113] in, is the normalized operability, σ i1 is the first singular value of the Jacobian matrix of the i-th step, w1 is the operability of the first step, and n is the total number of steps in the motion process.

[0114] In one embodiment, the flexibility generation module 102 is further configured to:

[0115] Based on the structural parameters, all joints that may cause singular configurations of the robotic arm are solved; based on the range of motion of the joints, the joints are sequentially valued within the range of motion; and the Jacobian matrix and its singular values ​​corresponding to each value of the joint are calculated.

[0116] In one embodiment, the flexibility generation module 102 is further configured to:

[0117] The singular values ​​are normalized; based on the Jacobian matrix and the singular values ​​in the case of the singular configuration of the robot arm, a corresponding relationship between the normalized singular values ​​and the joint values ​​is established; based on the corresponding relationship between the normalized singular values ​​and the joint values, a change curve of the singular values ​​and the joint values ​​is drawn.

[0118] The flexibility-based intelligent control device for a robotic arm provided in the above-mentioned embodiment of the present application has a corresponding relationship with the flexibility-based intelligent control method for a robotic arm provided in the embodiment of the present application. Therefore, the specific content in the device has a corresponding relationship with the flexibility-based intelligent control method for a robotic arm. The specific content can refer to the records in the flexibility-based intelligent control method for a robotic arm, and will not be repeated in the present application.

[0119] The flexibility-based intelligent control device for a robotic arm provided in the above-mentioned embodiments of the present application and the flexibility-based intelligent control method for a robotic arm provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0120] The above describes the internal functions and structure of the robot arm intelligent control device based on flexibility, such as Figure 5 As shown, in practice, the flexibility-based intelligent control device for a robotic arm can be implemented as an electronic device, including: a memory 301 and a processor 303 .

[0121] The memory 301 may be configured to store programs.

[0122] In addition, the memory 301 may also be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.

[0123] The memory 301 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0124] The processor 303 is coupled to the memory 301 and is configured to execute a program in the memory 301 to:

[0125] Acquiring structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable;

[0126] Based on the structural parameters and the working parameters, generating the spatial flexibility of the robot arm;

[0127] Based on the spatial flexibility, adjusting the starting height and movement path of the robot arm;

[0128] Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations.

[0129] In one embodiment, the spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm workspace, and the value of each point of the flexibility point cloud represents the flexibility of the robotic arm when the end tool of the robotic arm is at that coordinate.

[0130] In one implementation, the processor 303 is further configured to:

[0131] Delete points whose flexibility is less than a preset value; divide the flexibility point cloud area according to the density of the flexibility point cloud after deletion to determine the dense area; obtain the preparation position coordinates and preparation position posture of the robot arm; adjust the starting position height of the robot arm so that the preparation position coordinates fall into the dense area; plan and adjust the motion path according to the starting position of the robot arm and the preparation position coordinates and preparation position posture so that the motion path falls into the dense area.

[0132] In one implementation, the processor 303 is further configured to:

[0133] Based on the working parameters, a workspace is generated; in the workspace, based on the structural parameters, the Jacobian matrix and singular values ​​of the manipulator in the case of a singular configuration are solved; according to the Jacobian matrix and the singular values, the corresponding operability is calculated; the operability is normalized; according to the normalized operability and the corresponding Jacobian matrix, the corresponding relationship between the end position of the manipulator and the operability is determined, and the spatial flexibility is generated.

[0134] In one implementation, the normalization process of the operability is:

[0135]

[0136] in, is the normalized operability, σ i1 is the first singular value of the Jacobian matrix of the i-th step, w1 is the operability of the first step, and n is the total number of steps in the motion process.

[0137] In one implementation, the processor 303 is further configured to:

[0138] Based on the structural parameters, all joints that may cause singular configurations of the robotic arm are solved; based on the range of motion of the joints, the joints are sequentially valued within the range of motion; and the Jacobian matrix and its singular values ​​corresponding to each value of the joint are calculated.

[0139] In one implementation, the processor 303 is further configured to:

[0140] The singular values ​​are normalized; based on the Jacobian matrix and the singular values ​​in the case of the singular configuration of the robot arm, a corresponding relationship between the normalized singular values ​​and the joint values ​​is established; based on the corresponding relationship between the normalized singular values ​​and the joint values, a change curve of the singular values ​​and the joint values ​​is drawn.

[0141] In the present application, the processor is also specifically used to execute all the processes and steps of the above-mentioned flexibility-based intelligent control method of the robotic arm. The specific content can refer to the records in the flexibility-based intelligent control method of the robotic arm, and will not be repeated in this application.

[0142] In this application, Figure 5 Only some components are shown schematically, which does not mean that the electronic device only includes Figure 5 Components shown.

[0143] The electronic device provided in this embodiment is based on the same inventive concept as the flexibility-based intelligent control method of the robotic arm provided in the embodiment of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application stored therein.

[0144] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0145] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0149] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0150] The present application also provides a computer-readable storage medium corresponding to the flexibility-based intelligent control method for a robotic arm provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the flexibility-based intelligent control method for a robotic arm provided in any of the aforementioned embodiments.

[0151] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0152] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the flexibility-based intelligent control method of the robotic arm provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0153] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0154] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0155] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for intelligent control of a robotic arm based on flexibility, characterized in that: include: Acquiring structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable; Based on the structural parameters and the working parameters, generating the spatial flexibility of the robot arm; Based on the spatial flexibility, adjusting the starting height and movement path of the robot arm; Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations.

2. The flexibility-based intelligent control method for a robotic arm according to claim 1, characterized in that: The spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm's working space, and the value of each point in the flexibility point cloud represents the flexibility of the robotic arm when the end tool of the robotic arm is at that coordinate.

3. The flexibility-based intelligent control method for a robotic arm according to claim 2, characterized in that: Based on the spatial flexibility, the starting height and motion path of the robot arm are adjusted, including: Delete points whose flexibility is less than the preset value; According to the density of the flexibility point cloud after deletion, the flexibility point cloud area is divided to determine the dense area; Obtain the preparation position coordinates and preparation position posture of the robot arm; Adjusting the starting position height of the robot arm so that the preparation position coordinates fall into the dense area; According to the starting position of the robot arm and the coordinates and posture of the preparation position, the motion path is planned and adjusted so that the motion path falls into the dense area.

4. The method for intelligent control of a manipulator based on flexibility according to any one of claims 1 to 3, characterized in that: The generating the spatial flexibility of the robot arm based on the structural parameters and the working parameters includes: Generate a workspace based on work parameters; In the workspace, based on the structural parameters, the Jacobian matrix and singular values ​​of the manipulator in the case of singular configuration are solved; According to the Jacobian matrix and singular values, the corresponding operability is calculated; normalizing the operability; According to the normalized maneuverability and the corresponding Jacobian matrix, the corresponding relationship between the end position of the robot arm and the maneuverability is determined, and the spatial flexibility is generated.

5. The flexibility-based intelligent control method for a robotic arm according to claim 4, characterized in that: The normalization process of the operability is: in, is the normalized operability, σ i1 is the first singular value of the Jacobian matrix of the i-th step, w1 is the operability of the first step, and n is the total number of steps in the motion process.

6. The flexibility-based intelligent control method for a robotic arm according to claim 4, characterized in that: The method of solving the Jacobian matrix and singular values ​​of the manipulator in a singular configuration based on the structural parameters includes: Based on the structural parameters, solve all the joints that will cause the robot arm to have a singular configuration; Based on the range of motion of the joint, sequentially taking values ​​of the joint within the range of motion; Calculate the Jacobian matrix and its singular values ​​corresponding to each value of the joint.

7. The flexibility-based intelligent control method for a robotic arm according to claim 4, characterized in that: The generating the spatial flexibility of the robot arm based on the structural parameters and the working parameters also includes: Normalizing the singular values; Based on the Jacobian matrix and singular values ​​of the manipulator in the case of singular configuration, the corresponding relationship between the normalized singular values ​​and the joint values ​​is established; Based on the correspondence between the normalized singular values ​​and the joint values, the change curves of the singular values ​​and the joint values ​​are drawn.

8. A robot arm intelligent control device based on flexibility, characterized in that: include: A parameter acquisition module, which is used to acquire the structural parameters and working parameters of the robotic arm, the starting position height of the robotic arm being adjustable; A flexibility generation module, which is used to generate the spatial flexibility of the robot arm based on the structural parameters and the working parameters; A robot arm adjustment module, which is used to adjust the starting height and movement path of the robot arm based on the spatial flexibility; The robot arm control module is used to control the robot arm to perform corresponding operations based on the adjusted motion path.

9. An electronic device, characterized in that: include: Memory and processor; The memory is used to store programs; The processor, coupled to the memory, is configured to execute the program to: Acquiring structural parameters and working parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable; Based on the structural parameters and the working parameters, generating the spatial flexibility of the robot arm; Based on the spatial flexibility, adjusting the starting height and movement path of the robot arm; Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by the processor to implement the flexibility-based intelligent control method for a robotic arm as described in any one of claims 1 to 7.

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