A flexible-based robot arm intelligent control method and device

Abstract

The application provides a flexible-based intelligent control method and device for a mechanical arm, the method comprising: acquiring structural parameters and working parameters of the mechanical arm, the starting position height of the mechanical arm being adjustable; generating the spatial flexibility of the mechanical arm based on the structural parameters and the working parameters; adjusting the starting position height and the motion path of the mechanical arm based on the spatial flexibility; and controlling the mechanical arm to perform corresponding operations based on the adjusted motion path. In the application, the flexibility of the mechanical arm in the working space is evaluated, and planning adjustment is performed based on the evaluation, thereby avoiding risks such as limited surgical preparation position or singular position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a flexible-based intelligent control method and device for a mechanical arm. BACKGROUND

[0002] In a navigation surgery robot, a surgical robot performs surgical planning and mechanical arm operation in a reachable area. However, due to the existence of singular positions of the mechanical arm, the surgical robot may exist in the singular position during the surgical preparation position, or the angle is limited, which brings great risk to the normal surgery or auxiliary surgery. SUMMARY

[0003] The present application solves the problem of the risk of the joint space of the mechanical arm and the surgical preparation position.

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

[0005] Obtaining the structure parameters and working parameters of the mechanical arm, and the starting position height of the mechanical arm is adjustable;

[0006] Based on the structure parameters and working parameters, the spatial flexibility of the mechanical arm is generated;

[0007] Based on the spatial flexibility, the starting position height and the motion path of the mechanical arm are adjusted;

[0008] Based on the adjusted motion path, the corresponding operation of the mechanical arm is controlled.

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

[0010] The parameter acquisition module is used for obtaining the structure parameters and working parameters of the mechanical arm, and the starting position height of the mechanical arm is adjustable;

[0011] The flexibility generation module is used for generating the spatial flexibility of the mechanical arm based on the structure parameters and working parameters;

[0012] The mechanical arm adjustment module is used for adjusting the starting position height and the motion path of the mechanical arm based on the spatial flexibility;

[0013] The mechanical arm control module is used for controlling the corresponding operation of the mechanical arm based on the adjusted motion path.

[0014] The third aspect of the present application provides an electronic device, comprising a memory and a processor.

[0015] The memory is used for storing programs;

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

[0017] Obtaining structural parameters and working parameters of the mechanical arm, and the starting position height of the mechanical arm is adjustable;

[0018] Generating spatial flexibility of the mechanical arm based on the structural parameters and the working parameters;

[0019] Adjusting the starting position height and the motion path of the mechanical arm based on the spatial flexibility;

[0020] Controlling the mechanical arm to perform corresponding operations based on the adjusted motion path.

[0021] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the intelligent control method of the mechanical arm based on flexibility as described above.

[0022] In the present application, the flexibility of the mechanical arm in the working space is evaluated, and the planning adjustment is performed based on the evaluation to avoid the risk problems such as limited surgical preparation position or singular position. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A flowchart of the intelligent control method of the mechanical arm based on flexibility according to the embodiment of the present application;

[0024] Figure 2 A flowchart of flexibility generation of the intelligent control method of the mechanical arm based on flexibility according to the embodiment of the present application;

[0025] Figure 3 A schematic diagram of spatial flexibility of the intelligent control method of the mechanical arm based on flexibility according to the embodiment of the present application;

[0026] Figure 4 A structural block diagram of the intelligent control device of the mechanical arm based on flexibility according to the embodiment of the present application;

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

[0028] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be accurately conveyed to those skilled in the art.

[0029] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present application should be understood as the usual meaning understood by those skilled in the art to which the present application belongs.

[0030] To solve the above problems, the present application provides a new flexible-based intelligent control scheme for a robot arm, which can effectively implement force guidance and solve the problem that the operator cannot intuitively guide the joint angle to a more appropriate angle in the joint space of the robot arm.

[0031] The embodiment of the present application provides a flexible-based intelligent control method for a robot arm, and a specific scheme of the method is shown in Figures 1-3 The flexible-based intelligent control method for a robot arm can be executed by a flexible-based intelligent control device for a robot arm, which can be integrated in an electronic device such as a computer, a server, a computer cluster, a data center, etc. In combination with Figure 1 The flexible-based intelligent control method for a robot arm according to an embodiment of the present application is shown in a flowchart, and the flexible-based intelligent control method for a robot arm comprises the following steps.

[0032] S101, obtaining the structure parameters and working parameters of the robot arm, and the starting position height of the robot arm is adjustable;

[0033] In the present application, the structure parameters of the robot arm are the dimensions and mutual connection relationship of the robot arm in structure, etc.

[0034] In the present application, based on the structure parameters of the robot arm, a dynamics model of the robot arm can be constructed.

[0035] The dynamics model of the robot arm is a mathematical model describing the force and motion relationship of the robot arm in the motion process, which can be divided into two kinds: 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 required joint torque or force to achieve the motion when the motion (position, velocity and acceleration) of each joint of the robot arm is known.

[0036] Analyzing the mechanical arm, it can be seen that the mechanical arm is connected by several rods (the joint between two rods is a joint), and in the mechanical arm these rods are called links, each link can rotate around a certain axis based on the previous link (the previous link), (the joint rotates the link by rotating the motor), and this axis is only relative to the previous link. Forbidden, which leads to the fact that once multiple links are moving, the link can only have a direct spatial transformation relationship with the "previous link" and the "next link", that is, when the angle of rotation of the first link (the pitch angle of the rotation joint) is determined, the specific position of the first link can be calculated according to the spatial coordinates of the base. Then, the position of the end of the mechanical arm can be obtained by calculating backward, that is, the unloading end position.

[0037] As can be seen from the above, in the motion state of the mechanical arm, the attitude of the mechanical arm (the corresponding data / rotation data of each joint) can determine the coordinates of the tool at the end of the mechanical arm. Conversely, if the coordinates of the tool at the end of the mechanical arm (the desired pose) are known, the attitude of the mechanical arm (the desired joint angle of each joint) can be determined by inverse kinematics solution.

[0038] In this application, the starting height of the mechanical arm is adjustable, that is, the height of the installation position / platform of the mechanical arm is adjustable, so that all position coordinates of the mechanical arm are adjusted synchronously according to the height (that is, the remaining positions of the mechanical arm will move synchronously with the height).

[0039] In this application, after the starting height of the mechanical arm changes, the coordinates of the preparation position remain unchanged, based on relative motion, it can also be regarded as the mechanical arm remaining unchanged, and the preparation position generates motion (the motion is the same size as the motion of the starting position, and the direction is opposite).

[0040] In this application, the working parameters of the mechanical arm can include the constraint parameters of the mechanical arm, that is, the maximum value, minimum value and other constraints of each joint angle on the mechanical arm.

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

[0042] The spatial flexibility of the mechanical arm is as shown in Figure 3

[0043] In an embodiment, the spatial flexibility of the mechanical arm is a flexibility point cloud in the working space of the mechanical arm, and the value of each point of the flexibility point cloud represents the flexibility of the mechanical arm when the tool at the end of the mechanical arm is at the coordinates.

[0044] ​In the present application, the mechanical arm has a space fixed with the mechanical arm itself as the working space of the mechanical arm; due to the nature of the mechanical arm, the feasible poses of the end of the mechanical arm to reach each point in the working space are fixed and unchanged, for example, the mechanical arm has three poses to make the end reach the coordinate A point in the working space, regardless of the change of the initial position of the mechanical arm, the mechanical arm reaching the coordinate A point in the working space is still the three poses.

[0045] The flexibility point cloud of the mechanical arm in the working space of the mechanical arm is that when the end of the mechanical arm is at the coordinate A point in the working space, it has a flexibility evaluation value for evaluating the flexibility of the end of the mechanical arm at the A point, and the value is the value of the A point.

[0046] Preferably, each pose of the mechanical arm corresponds to a coordinate point, but each coordinate point can correspond to multiple poses of the mechanical arm (may also correspond to only one pose, or no pose); each pose of the mechanical arm has a flexibility evaluation, and when multiple flexibility evaluations are at the same coordinate point, the final evaluation value can be determined according to the corresponding multiple flexibility evaluations.

[0047] Preferably, the final evaluation value is determined according to the corresponding multiple flexibility evaluations, which is the flexibility evaluation with the smallest value, as the final evaluation value. Thus, the strict limit on flexibility is increased, so that the actual flexibility of the mechanical arm motion path following the limit remains stable, avoiding the problem that the flexibility is high in theory but limited in actual execution.

[0048] S103, adjusting the initial position height and the motion path of the mechanical arm based on the spatial flexibility;

[0049] In the present application, after the initial position height of the mechanical arm is adjusted, the coordinate of the mechanical arm in the working space can remain unchanged, but the height in the actual space changes; that is to say, in the working space, the preparation position coordinate is adjusted, and the motion path from the initial position to the preparation position is planned, and then the initial position coordinate, the preparation position coordinate and the motion path from the initial position to the preparation position in the working space are mapped to the actual space for execution.

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

[0051] In the present application, the flexibility of the mechanical arm in the working space is evaluated, and then planning and adjustment are performed based on the evaluation to avoid the risk problems such as limited surgical preparation position or singular position.

[0052] In one embodiment, S103, adjusting the initial position height and the motion path of the mechanical arm based on the spatial flexibility, comprises:

[0053] points with flexibility less than a preset value are deleted;

[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 the preparation position attitude of the mechanical arm;

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

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

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

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

[0060] Among them, the dense area can be set as an area without blank coordinate points (deleted points), so that in the dense area, control with maximum flexibility is realized.

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

[0062] In this application, by making the preparation position and the motion path fall into the dense area, the maximum flexibility in the control process of the mechanical arm is ensured, and stable control is realized.

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

[0064] S201, based on the working parameters, generate the working space;

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

[0066] In this application, the working space can be a three-dimensional space generated with the starting position as the determined position. By the starting position and the current attitude of the mechanical arm, the mechanical arm is mapped into the working space.

[0067] S202, in the working space, based on the structure parameters, solve the Jacobian matrix and singular value under the singular configuration of the mechanical arm;

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

[0069] In the present application, the operability is defined as the ability of the end effector of the robot arm to generate velocity or force in a certain direction. Specifically, it is usually represented as the relationship between the velocity or force in a direction and the joint velocity or force of the robot arm, which can be quantified by the Jacobian matrix and its related operations.

[0070] wherein the Jacobian matrix of the robot arm is defined as the linear transformation between the operational velocity and the joint velocity, and can also be regarded as the transmission ratio of the motion velocity between the configuration space and the operational space.

[0071] wherein the direction vector is a unit vector representing a certain specific direction.

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

[0073] Preferably, the measure index of the operability can also be represented as:

[0074] w = σ1σ2…σm m

[0075] wherein 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. Among them, the singular values of the Jacobian matrix are arranged in descending order.

[0076] S204, normalizing the operability;

[0077] In an embodiment, the normalization of the operability is:

[0078]

[0079] wherein, 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 motion processes.

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

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

[0082] In one embodiment, the solving of the Jacobian matrix and singular value of the manipulator in the singular configuration based on the structural parameters comprises:

[0083] Solving all joints that will cause the manipulator to be in a singular configuration based on the structural parameters;

[0084] Sequentially taking values of the joints within the range of motion of the joints based on the range of motion of the joints;

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

[0086] In this application, singular configuration refers to the loss of freedom of the manipulator at certain joint angles or the determinant of the Jacobian matrix being zero, resulting in the inability to normally control or perform tasks.

[0087] The singular configuration occurs when the determinant of the Jacobian matrix is zero (i.e. the Jacobian matrix degenerates), which indicates that the joint angle is in a specific configuration, making the motion in some directions uncontrollable.

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

[0089] If the determinant of the Jacobian matrix is zero under a certain combination of joint angles, the joint angles corresponding to the combination cause a singular configuration.

[0090] In this application, the singular decoupling of the manipulator separates the singularities of the manipulator into the singularities of the first three joints and the singularities of the last three joints, thereby obtaining the joints that cause singular configurations.

[0091] Each joint of the manipulator has a certain range of motion. The angles within this range will affect the occurrence of singular configurations. After determining the joints that will cause singular configurations, the values within the range of motion of these joints can be taken. Assuming that the range of motion of the joint is represented by discrete values, i.e. the range of motion is divided into several equally spaced points, these discrete values can be taken sequentially for analysis.

[0092] The discrete values of each joint are taken sequentially, the Jacobian matrix of the manipulator is calculated, and it is checked whether this configuration will cause a singular configuration.

[0093] In this application, the singular value of the Jacobian matrix can be decomposed, thereby solving the singular value of the Jacobian matrix. Singular value represents the scale factor when the joint space is mapped to the operation space. Large singular value indicates that the motion of the end in that direction is very sensitive to the change of the joint, while small singular value indicates that the end motion in that direction is not sensitive to the change of the joint, or even close to zero when it cannot move.

[0094] In an embodiment, the generating the spatial flexibility of the robot arm based on the structure parameters and the working parameters further comprises:

[0095] normalizing the singular values;

[0096] establishing a corresponding relationship between the normalized singular values and the joint values based on the Jacobian matrix and the singular values in the singular configuration of the robot arm;

[0097] drawing a change curve of the singular values and the joint values based on the corresponding relationship between the normalized singular values and the joint values.

[0098] Wherein, through the above steps, a change curve of the singular values with the joint angle values is made, and through the change curve, the characteristics of the corresponding joint can be intuitively observed, thereby facilitating the iterative adjustment of the angle range of the joint.

[0099] In an embodiment, the generating the spatial flexibility of the robot arm based on the structure parameters and the working parameters further comprises: iteratively adjusting the angle range of the joint based on the change curve of the singular values and the joint values, so as to obtain a more suitable angle constraint of the joint.

[0100] The embodiment of the present application provides a robot arm intelligent control device based on flexibility, which is used to execute the robot arm intelligent control method based on flexibility described above, and the robot arm intelligent control device based on flexibility is described in detail below.

[0101] As shown in Figure 4 , the robot arm intelligent control device based on flexibility comprises:

[0102] A parameter acquisition module 101 is configured to acquire structure parameters and working parameters of a robot arm, and a starting position height of the robot arm is adjustable.

[0103] A flexibility generation module 102 is configured to generate a spatial flexibility of the robot arm based on the structure parameters and the working parameters.

[0104] A robot arm adjustment module 103 is configured to adjust a starting position height and a motion path of the robot arm based on the spatial flexibility.

[0105] A robot arm control module 104 is configured to control the robot arm to perform a corresponding operation based on the adjusted motion path.

[0106] In an embodiment, the spatial flexibility of the robot arm is a flexibility point cloud in a working space of the robot arm, and a numerical value of each point of the flexibility point cloud represents a flexibility of the robot arm when an end tool of the robot arm is at the coordinate.

[0107] In an embodiment, the mechanical arm adjustment module 103 is further configured to:

[0108] delete the points with flexibility less than a preset value; divide the flexibility point cloud region according to the density of the flexibility point cloud after the deletion, and determine a dense region; obtain a preparation position coordinate and a preparation position attitude of the mechanical arm; adjust the starting position height of the mechanical arm so that the preparation position coordinate falls into the dense region; and plan and adjust the motion path according to the starting position of the mechanical arm and the preparation position coordinate and the preparation position attitude, so that the motion path falls into the dense region.

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

[0110] generate a working space based on the working parameters; in the working space, solve the Jacobian matrix and singular values under the singular configuration of the mechanical arm based on the structural parameters; calculate the corresponding operability based on the Jacobian matrix and the singular values; normalize the operability; determine the correspondence between the end position of the mechanical arm and the operability based on the normalized operability and the corresponding Jacobian matrix, and generate the spatial flexibility.

[0111] In an embodiment, the normalization of the operability is:

[0112]

[0113] wherein, 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 an embodiment, the flexibility generation module 102 is further configured to:

[0115] solve all joints that will cause the mechanical arm to appear in a singular configuration based on the structural parameters; sequentially take values for the joints within the range of motion based on the range of motion of the joints; and calculate the Jacobian matrix and its singular values corresponding to each value of the joint.

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

[0117] normalize the singular values; establish a correspondence between the normalized singular values and the joint values based on the Jacobian matrix and the singular values under the singular configuration of the mechanical arm; and draw a change curve of the singular values and the joint values based on the correspondence between the normalized singular values and the joint values.

[0118] The above-mentioned embodiment of the present application provides a flexible-based mechanical arm intelligent control device, which has a corresponding relationship with the flexible-based mechanical arm intelligent control method provided by the embodiment of the present application. Therefore, the specific content in the device has a corresponding relationship with the flexible-based mechanical arm intelligent control method. For details, refer to the record in the flexible-based mechanical arm intelligent control method. This will not be repeated here.

[0119] The above-mentioned embodiment of the present application provides a flexible-based mechanical arm intelligent control device, which has the same beneficial effects as the method adopted, run or implemented by the application program stored therein, based on the same inventive concept as the flexible-based mechanical arm intelligent control method provided by the embodiment of the present application.

[0120] The above describes the internal functions and structures of the flexible-based mechanical arm intelligent control device. As shown in Figure 5 The flexible-based mechanical arm intelligent control device can be realized as an electronic device, including a memory 301 and a processor 303.

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

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

[0123] The memory 301 can be realized by any type of volatile or non-volatile storage device or their combination, 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 storage, flash memory, magnetic disk or optical disk.

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

[0125] Obtaining the structure parameters and working parameters of the mechanical arm, and the starting position height of the mechanical arm is adjustable;

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

[0127] Based on the spatial flexibility, adjusting the starting position height and the motion path of the mechanical arm;

[0128] Based on the adjusted motion path, controlling the mechanical arm to perform corresponding operations.

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

[0130] In an embodiment, the processor 303 is further configured to:

[0131] delete points with flexibility less than a preset value; divide the flexibility point cloud into regions according to a density of the flexibility point cloud after the deletion, and determine a dense region; obtain a preparation coordinate and a preparation posture of the robot arm; adjust a starting position height of the robot arm so that the preparation coordinate falls into the dense region; and plan and adjust a motion path according to the starting position of the robot arm and the preparation coordinate and the preparation posture, so that the motion path falls into the dense region.

[0132] In an embodiment, the processor 303 is further configured to:

[0133] generate a workspace based on the working parameters; in the workspace, solve Jacobian matrices and singular values in singular configurations of the robot arm based on the structural parameters; calculate corresponding operabilities according to the Jacobian matrices and the singular values; normalize the operabilities; determine a correspondence between positions of an end of the robot arm and the operabilities according to the normalized operabilities and the corresponding Jacobian matrices, and generate the spatial flexibility.

[0134] In an embodiment, the normalization of the operability is:

[0135]

[0136] wherein, 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 a total number of steps in the motion process.

[0137] In an embodiment, the processor 303 is further configured to:

[0138] solve all joints that can cause the robot arm to be in a singular configuration based on the structural parameters; sequentially take values of the joints within a motion range of the joints based on the motion range; and calculate a Jacobian matrix and a singular value corresponding to each value of the joint.

[0139] In an embodiment, the processor 303 is further configured to:

[0140] The singular values are normalized; based on the Jacobian matrix and singular values under the singular configuration of the mechanical arm, a corresponding relationship between the normalized singular values and the joint values is established; and 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 configured to execute all processes and steps of the intelligent control method for the mechanical arm based on flexibility, and the specific content can be referred to the record in the intelligent control method for the mechanical arm based on flexibility, which will not be described here.

[0142] In the present application, Figure 5 The electronic device is only schematically shown with some components, and does not mean that the electronic device only includes Figure 5 The components shown.

[0143] The electronic device provided in the present embodiment has the same beneficial effects as the method adopted, run or implemented by the application program stored therein, based on the same inventive concept as the intelligent control method for the mechanical arm based on flexibility provided in the present embodiment.

[0144] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer readable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0145] The present application is described with reference to flowcharts and / or block diagrams according to the method, device (system) and computer program product of the present embodiment. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of the flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowchart and / or block diagram. Figure 1 The device for realizing the functions specified in one or more flows and / or blocks Figure 1 The device for realizing the functions specified in one or more flows and / or blocks

[0146] These computer program instructions can also be stored in a computer readable memory that can guide the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer readable memory produce a product including instruction devices that implement the functions specified in the flowchart and / or block diagram. Figure 1one or more processes and / or blocks Figure 1 the function specified in the one or more blocks or one or more blocks.

[0147] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable devices to generate a computer-implemented process, so that the instructions executed by the computer or other programmable devices provide a process for implementing the flow Figure 1 one or more processes and / or blocks Figure 1 the function specified in the one or more blocks or one or more blocks.

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

[0149] The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or Flash memory, in a computer-readable medium. The memory is an example of computer-readable media.

[0150] The application also provides a computer-readable storage medium corresponding to the flexible-based intelligent control method of the mechanical arm provided by the foregoing embodiments, which stores a computer program (i.e., program product) therein, and the computer program, when executed by a processor, performs the flexible-based intelligent control method of the mechanical arm provided by any of the foregoing embodiments.

[0151] Computer-readable media includes 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carriers.

[0152] The computer readable storage medium provided by the above embodiments of the present application has the same beneficial effects as the method adopted, run or implemented by the application program stored therein, based on the same inventive concept.

[0153] It should be noted that in the specification provided herein, a large number of specific details are explained. However, it can be 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 in order to not obscure the understanding of the present specification.

[0154] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0155] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of 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 operating parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable; generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters; The spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm workspace, where 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 point; Based on the spatial flexibility, adjusting the starting height and motion path of the robotic arm; Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations; Generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters includes: Generate 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; performing normalization processing on the operability; Determine 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 generate the spatial flexibility; The adjusting of the starting height and the motion path of the robot arm based on the spatial flexibility includes: 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; Get the ready position coordinates and posture of the robot arm; Adjusting the starting position height of the robotic 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.

2. The flexibility-based intelligent control method for a robotic arm according to claim 1, characterized in that: The normalization process of the operability is: in, is the normalized operability, For the The first singular value of the Jacobian matrix of step , The operability of step 1, is the total number of steps in the motion process.

3. The flexibility-based intelligent control method for a robotic arm according to claim 1, 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 joints that may 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.

4. The method for intelligent control of a robotic arm based on flexibility according to claim 1, characterized in that: Generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters further includes: performing normalization processing on 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 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.

5. A robot arm intelligent control device based on flexibility, characterized in that: include: A parameter acquisition module, which is used to obtain the structural parameters and working parameters of the robotic arm, wherein the starting position height of the robotic arm is adjustable; a flexibility generation module for generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters; the spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm's workspace, wherein 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 point; A robotic arm adjustment module, configured to adjust the starting height and motion path of the robotic arm based on the spatial flexibility; A robotic arm control module, which is used to control the robotic arm to perform corresponding operations based on the adjusted motion path; Generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters includes: Generate 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; performing normalization processing on the operability; Determine 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 generate the spatial flexibility; The adjusting of the starting height and the motion path of the robot arm based on the spatial flexibility includes: 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; Get the ready position coordinates and posture of the robot arm; Adjusting the starting position height of the robotic 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.

6. 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 operating parameters of a robotic arm, wherein the starting height of the robotic arm is adjustable; Based on the structural parameters and working parameters, the spatial flexibility of the robotic arm is generated; the spatial flexibility of the robotic arm is a flexibility point cloud in the robotic arm workspace, 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 point; Based on the spatial flexibility, adjusting the starting height and motion path of the robotic arm; Based on the adjusted motion path, the robotic arm is controlled to perform corresponding operations; Generating the spatial flexibility of the robotic arm based on the structural parameters and the working parameters includes: Generate 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; performing normalization processing on the operability; Determine 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 generate the spatial flexibility; The adjusting of the starting height and the motion path of the robot arm based on the spatial flexibility includes: 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; Get the ready position coordinates and posture of the robot arm; Adjusting the starting position height of the robotic 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.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the flexibility-based intelligent control method for a robotic arm as described in any one of claims 1 to 4.

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