High-precision mechanical arm intelligent control method and device based on redundant joints

Abstract

The invention provides a high-precision mechanical arm intelligent control method and device based on redundant joints. The method comprises the steps that a planned path of a mechanical arm is obtained; determining discrete path points and corresponding target poses based on the planned path; the target pose is analyzed, and the joint angle, corresponding to the target pose, of each joint of the mechanical arm is determined based on gradient projection; and path control is conducted on the mechanical arm according to the joint angles corresponding to all the path points. According to the method, under the condition that the planned path is obtained, the target poses corresponding to the discrete path points are analyzed, and the angle of the corresponding joint is uniquely determined, so that the control precision of the tail end of the joint of the mechanical arm is improved, and the problem that the control precision of the tail end of the joint space of the mechanical arm is very low is solved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a high-precision intelligent control method and device for a robotic arm based on redundant joints. Background Art

[0002] In navigation surgical robots, surgical robots with redundant robotic arms have higher flexibility and self-motion characteristics. However, due to this characteristic, the end control accuracy of the joint space of the robotic arm is very low. Summary of the invention

[0003] The problem that this application solves is that the end control accuracy of the joint space of the robot arm is very low.

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

[0005] Get the planned path of the robot arm;

[0006] Determine discrete path points and corresponding target poses based on the planned path;

[0007] Analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection;

[0008] The path of the robot arm is controlled according to the joint angles corresponding to each path point.

[0009] The second aspect of the present application provides a high-precision intelligent control device for a robotic arm based on redundant joints, comprising:

[0010] A path acquisition module, which is used to obtain the planned path of the robot arm;

[0011] A pose determination module, which is used to determine discrete path points and corresponding target poses based on the planned path;

[0012] An angle analysis module, which is used to analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection;

[0013] The robot arm control module is used to control the path of the robot arm according to the joint angles corresponding to each path point.

[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] Get the planned path of the robot arm;

[0018] Determine discrete path points and corresponding target poses based on the planned path;

[0019] Analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection;

[0020] The path of the robot arm is controlled according to the joint angles corresponding to each path point.

[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 high-precision robotic arm intelligent control method based on redundant joints.

[0022] In the present application, when obtaining the planned path, the target posture corresponding to the discrete path points is analyzed to uniquely determine the angle of the corresponding joint, thereby improving the end control accuracy of the joints of the robotic arm and solving the problem of low end control accuracy in the joint space of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a high-precision robotic arm intelligent control method based on redundant joints according to an embodiment of the present application;

[0024] Figure 2 It is a flowchart of angle analysis of a high-precision robotic arm intelligent control method based on redundant joints according to an embodiment of the present application;

[0025] Figure 3 is a structural block diagram of a high-precision robotic arm intelligent control device based on redundant joints according to an embodiment of the present application;

[0026] Figure 4 is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] In navigation surgical robots, surgical robots with redundant robotic arms have higher flexibility and self-motion characteristics. However, due to this characteristic, the joint angles corresponding to the planned path of the robotic arm can only be approximately determined through iteration; this approximate determination will increase the error sharply as the number of joints increases, resulting in low end-control accuracy of the robotic arm's joint space.

[0030] In response to the above problems, the present application provides a new high-precision robotic arm intelligent control solution based on redundant joints, 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 high-precision intelligent control method for a robotic arm based on redundant joints. The specific scheme of the method is as follows: Figure 1-Figure 2 As shown, the method can be performed by a high-precision robot arm intelligent control device based on redundant joints, and the high-precision robot arm intelligent control device based on redundant joints 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 high-precision robotic arm intelligent control method based on redundant joints according to an embodiment of the present application; wherein the high-precision robotic arm intelligent control method based on redundant joints includes:

[0032] S101, obtaining a planned path of the robot arm;

[0033] In this application, the planned path of the robot arm is the path that the end of the robot arm passes through. The specific acquisition method is not limited in this application.

[0034] S102, determining discrete path points and corresponding target poses based on the planned path;

[0035] The planned path of the robot arm can be regarded as composed of continuous discrete points. Based on this, it can be split into continuous discrete path points.

[0036] In this application, the target pose is the desired pose of the end of the robotic arm, and the corresponding target pose matrix is ​​usually a 4×4 homogeneous transformation matrix that includes the position and orientation of the end of the robotic arm in three-dimensional space.

[0037] S103, analyzing the target posture, and determining the joint angles of each joint of the robotic arm corresponding to the target posture based on the gradient projection;

[0038] S104, performing path control on the robot arm according to the joint angles corresponding to the various path points.

[0039] In this application, the joint angle corresponding to each path point is determined, and the task of path control is to generate a smooth joint angle trajectory between these path points and control the robot arm to reach each path point at the planned speed and time. The specific control method will not be repeated in this application, nor will it be limited.

[0040] In the present application, the accuracy of the entire robotic arm control is improved by accurately determining the joint angles corresponding to each path point.

[0041] In the present application, when obtaining the planned path, the target posture corresponding to the discrete path points is analyzed to uniquely determine the angle of the corresponding joint, thereby improving the end control accuracy of the joints of the robotic arm and solving the problem of low end control accuracy in the joint space of the robotic arm.

[0042] In one embodiment, in combination Figure 2 As shown, the step S103, analyzing the target posture, and determining the joint angles of each joint of the robotic arm corresponding to the target posture based on the gradient projection, includes:

[0043] S301, determining a target posture matrix based on the target posture;

[0044] The target pose matrix is ​​a 4×4 homogeneous transformation matrix that contains the position and orientation of the end of the robot in three-dimensional space. The target pose is the desired pose of the end of the robot, through which the target pose matrix can be directly determined.

[0045] S302, calculating the joint space angle corresponding to the robot arm and the target pose matrix by gradient projection method;

[0046] In this application, the gradient projection method is used to perform step-by-step iteration until the joint space angle corresponding to the target pose matrix is ​​obtained. The corresponding joint space angle is an approximate angle with errors.

[0047] S303, fixing the terminal joint space angle and calculating the terminal joint target sub-matrix;

[0048] Among them, the approximate end joint space angle is obtained through the gradient projection method, and the end joint space angle is set to a known value. Based on the value, the end joint target submatrix is ​​calculated.

[0049] Among them, the terminal joint target sub-matrix is ​​the target matrix of the remaining joints after removing the terminal joints (these joints are non-redundant joints).

[0050] S304, calculating multiple groups of analytical solutions according to the terminal joint target submatrix, each group of analytical solutions being a group of joint angles;

[0051] Among them, the end joint target sub-matrix is ​​the target matrix corresponding to the non-redundant robotic arm. By analyzing the target matrix, multiple groups of corresponding analytical solutions can be obtained. The analytical solutions are accurate results without errors.

[0052] In the present application, each set of analytical solutions is a set of joint angles, that is, it is composed of the angles of each joint of multiple joints.

[0053] In this application, after the joint angles of the remaining joints after removing the terminal joint are determined, the joint angles of the terminal joints can be re-determined based on this part (when the entire redundant manipulator target pose matrix is ​​known). The re-determined joint angles of the terminal joints are also accurate results.

[0054] S305 , selecting a group of analytical solutions that is closest to the joint space angle from multiple groups of analytical solutions as the final joint angle.

[0055] In the present application, the joint space angle is an approximate angle obtained by iteration and has a certain error; the analytical solution is the precise angle. By selecting a set of analytical solutions closest to the joint space angle, accurate results can be obtained while keeping the overall data slightly unchanged.

[0056] In the present application, the final joint angle includes an analytical solution and a re-determined joint angle of the terminal joint corresponding to the analytical solution.

[0057] In this application, the analytical solution can reduce or even eliminate the cumulative error of the numerical iteration method, thereby effectively improving the accuracy of the calculation results. In addition, when the iterative joint space angle is known, by selecting a set of analytical solutions that are closest to the joint space angle, the singular configuration of the manipulator can be significantly avoided.

[0058] In one implementation, the target pose matrix is:

[0059]

[0060]

[0061] in, is the target pose matrix, is the transformation matrix, is the forward kinematics equation of the six joints, p x 、p y 、p z Represents the position coordinates of the end of the robotic arm in space, n x 、n y 、n z , o x , o y , o z , ax 、a y 、a z , is the rotation matrix parameter of the end of the robot.

[0062] In one embodiment, the calculation formula of the end joint target sub-matrix is:

[0063]

[0064] in, is the end joint target sub-matrix, is the target pose matrix, is the transformation matrix.

[0065] In the present application, the transformation matrix is ​​determined according to the spatial angle of the end joint.

[0066] In one embodiment, the calculation formula of the analytical solution is:

[0067]

[0068] θ 23 =atan2(t1,t2)

[0069] θ2=θ 23 -θ3

[0070] θ4=atan2(t3,t4)

[0071] θ5=atan2(s5,c5)

[0072] θ6=atan2(s6,c6)

[0073] Among them, θ1, θ2, θ3, θ4, θ5, θ6 are the joint angles of the analytical solution, and atan2 is the tangent function. i is the connecting rod length in DH parameters, d i is the connecting rod offset in DH parameters, θ i is the joint angle in DH parameters, s i is sinθ i , c i is cosθ i , k is the general solution constant, t i is the joint variable.

[0074] In one implementation, the step S302, calculating the joint space angle corresponding to the robot arm and the target pose matrix by a gradient projection method, includes:

[0075] Acquire physical constraints of the robot arm, wherein the physical constraints include range limits of joint angles;

[0076] Constructing an objective function in which the difference between the pose matrix corresponding to the joint space angle and the target pose matrix is ​​minimized;

[0077] Get the initial joint angle and calculate the gradient of the objective function to the joint angle;

[0078] Based on gradient descent, the joint angles are updated and projected into the feasible domain;

[0079] Return to execute the gradient calculation of the objective function on the joint angle until the convergence condition is met; the last updated joint angle is the joint space angle.

[0080] In this application, the joint angles of the robot arm are calculated by the gradient projection method so that the end pose matrix reaches the target pose, which is an iterative optimization process. The objective function is optimized under constraints so that the end effector of the robot arm reaches the desired pose.

[0081] In this application, the specific steps of calculating the joint space angle corresponding to the robot arm and the target pose matrix by the gradient projection method include:

[0082] First, set the robot's degrees of freedom to n and its joint angle vectors to θ = 9θ1, θ2, ..., θ ； < ＝ .

[0083] Secondly, the physical constraints of the robot are obtained, so that in each iteration, the joint angles are updated and ensured to satisfy the physical constraints of the robot; an objective function is constructed. The goal in this application is to find a set of joint angles so that the end pose matrix corresponding to this set of joint angles is as close as possible to the target pose matrix.

[0084] Then, select the initial joint angles, usually choosing a default configuration for the robot arm.

[0085] Calculate the gradient of the objective function with respect to the joint angle, which is determined based on the Jacobian matrix of the pose matrix with respect to the joint angle and the difference between the current end pose matrix and the target pose matrix.

[0086] Then, according to the idea of ​​gradient descent, the joint angles are updated.

[0087] In one embodiment, the update formula of the joint angle is:

[0088]

[0089] Among them, θ 341 is the updated joint angle, θ3 is the joint angle before updating, α3 is the step size, f(θ3) is the objective function, is the gradient.

[0090] Then, a projection operation is performed: a feasible domain is constructed based on the physical constraints, and the updated joint angles are projected into the feasible domain to ensure that each joint angle is within the allowable range.

[0091] At this point, a judgment is made: if the gradient of the current iteration is small enough or the change in the joint angle is small enough, or the value of the objective function is close to zero, the algorithm is considered to have converged, and the final joint angle is returned as the solution; if it has not yet converged, the calculation of the gradient of the objective function for the joint angle and subsequent steps are re-executed, and the next iteration is performed until the convergence conditions are met.

[0092] In this application, through the projection operation, the gradient projection method can handle the constraints of the joint angles and ensure that the solution is always within the physically feasible range.

[0093] In this application, the target pose matrix is ​​gradually approached through gradient updating and iteration to ensure the accuracy of the solution.

[0094] An embodiment of the present application provides a high-precision robotic arm intelligent control device based on redundant joints, which is used to execute the high-precision robotic arm intelligent control method based on redundant joints described in the above content of the present application. The high-precision robotic arm intelligent control device based on redundant joints is described in detail below.

[0095] like Figure 3 As shown, the high-precision robotic arm intelligent control device based on redundant joints includes:

[0096] A path acquisition module 101 is used to acquire a planned path of the robot arm;

[0097] A pose determination module 102, which is used to determine discrete path points and corresponding target poses based on the planned path;

[0098] An angle analysis module 103, which is used to analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on the gradient projection;

[0099] The robot arm control module 104 is used to perform path control on the robot arm according to the joint angles corresponding to each path point.

[0100] In one implementation, the angle parsing module 103 is further configured to:

[0101] Based on the target posture, determine the target posture matrix; calculate the joint space angle corresponding to the robot arm and the target posture matrix through the gradient projection method; fix the end joint space angle and calculate the end joint target sub-matrix; according to the end joint target sub-matrix, calculate multiple groups of analytical solutions, each group of analytical solutions is a group of joint angles; select the group closest to the joint space angle from the multiple groups of analytical solutions as the final joint angle.

[0102] In one implementation, the target pose matrix is:

[0103]

[0104] Among them, is the target pose matrix, is the transformation matrix, is the forward kinematics equation of the six joints, p x 、p y 、p z Represents the position coordinates of the end of the robotic arm in space, n x 、n y 、n z , o x , o y , o z , a x 、a y 、a z , is the rotation matrix parameter of the end of the robot.

[0105] In one embodiment, the calculation formula of the end joint target sub-matrix is:

[0106]

[0107] in, is the end joint target sub-matrix, is the target pose matrix, is the transformation matrix.

[0108] In one embodiment, the calculation formula of the analytical solution is:

[0109]

[0110] θ 23 =atan2(t1,t2)

[0111] θ2=θ 23 -θ3

[0112] θ4=atan2(t3,t4)

[0113] θ5=atan2(s5,c5)

[0114] θ6=atan2(s6,c6)

[0115] Among them, θ1, θ2, θ3, θ4, θ5, θ6 are the joint angles of the analytical solution, and atan2 is the tangent function. i is the connecting rod length in DH parameters, d i is the connecting rod offset in DH parameters, θ i is the joint angle in DH parameters, s i is sinθ i , c i is cosθ i , k is the general solution constant, t i is the joint variable.

[0116] In one implementation, the angle parsing module 103 is further configured to:

[0117] Acquire the physical constraints of the robot arm, wherein the physical constraints include the range limit of the joint angle; construct an objective function, in which the difference between the pose matrix corresponding to the joint space angle and the target pose matrix is ​​minimized; obtain the initial joint angle, and calculate the gradient of the objective function with respect to the joint angle; based on gradient descent, update the joint angle and project it into the feasible domain; return to execute the gradient calculation of the objective function with respect to the joint angle until the convergence condition is met; the joint angle finally updated is the joint space angle.

[0118] In one embodiment, the update formula of the joint angle is:

[0119]

[0120] Among them, θ 341 is the updated joint angle, θ3 is the joint angle before updating, α3 is the step size, f(θ3) is the objective function, is the gradient.

[0121] The high-precision robotic arm intelligent control device based on redundant joints provided in the above-mentioned embodiment of the present application has a corresponding relationship with the high-precision robotic arm intelligent control method based on redundant joints provided in the embodiment of the present application. Therefore, the specific content in the device has a corresponding relationship with the high-precision robotic arm intelligent control method based on redundant joints. The specific content can refer to the records in the high-precision robotic arm intelligent control method based on redundant joints, and will not be repeated in this application.

[0122] The high-precision robotic arm intelligent control device based on redundant joints provided in the above-mentioned embodiments of the present application and the high-precision robotic arm intelligent control method based on redundant joints 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.

[0123] The above describes the internal functions and structure of the high-precision robotic arm intelligent control device based on redundant joints, such as Figure 4 As shown, in practice, the high-precision robotic arm intelligent control device based on redundant joints can be implemented as an electronic device, including: a memory 301 and a processor 303.

[0124] The memory 301 may be configured to store programs.

[0125] 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.

[0126] 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.

[0127] The processor 303 is coupled to the memory 301 and is configured to execute a program in the memory 301 to:

[0128] Get the planned path of the robot arm;

[0129] Determine discrete path points and corresponding target poses based on the planned path;

[0130] Analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection;

[0131] The path of the robot arm is controlled according to the joint angles corresponding to each path point.

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

[0133] Based on the target posture, determine the target posture matrix; calculate the joint space angle corresponding to the robot arm and the target posture matrix through the gradient projection method; fix the end joint space angle and calculate the end joint target sub-matrix; according to the end joint target sub-matrix, calculate multiple groups of analytical solutions, each group of analytical solutions is a group of joint angles; select the group closest to the joint space angle from the multiple groups of analytical solutions as the final joint angle.

[0134] In one implementation, the target pose matrix is:

[0135]

[0136] in, is the target pose matrix, is the transformation matrix, is the forward kinematics equation of the six joints, p x 、p y 、p z Represents the position coordinates of the end of the robotic arm in space, n x 、n y 、n z , o x , o y , o z , a x 、a y 、a z , is the rotation matrix parameter of the end of the robot.

[0137] In one embodiment, the calculation formula of the end joint target sub-matrix is:

[0138]

[0139] in, is the end joint target sub-matrix, is the target pose matrix, is the transformation matrix.

[0140] In one embodiment, the calculation formula of the analytical solution is:

[0141]

[0142] θ 23 =atan2(t1,t2)

[0143] θ2=θ 23 -θ3

[0144] θ4=atan2(t3,t4)

[0145] θ5=atan2(s5,c5)

[0146] θ6=atan2(s6,c6)

[0147] Among them, θ1, θ2, θ3, θ4, θ5, θ6 are the joint angles of the analytical solution, and atan2 is the tangent function. i is the connecting rod length in DH parameters, d i is the connecting rod offset in DH parameters, θ i is the joint angle in DH parameters, s i is sinθ i , c i is cosθ i , k is the general solution constant, ti is the joint variable.

[0148] In one implementation, the processor 303 is further configured to:

[0149] Acquire the physical constraints of the robot arm, wherein the physical constraints include the range limit of the joint angle; construct an objective function, in which the difference between the pose matrix corresponding to the joint space angle and the target pose matrix is ​​minimized; obtain the initial joint angle, and calculate the gradient of the objective function with respect to the joint angle; based on gradient descent, update the joint angle and project it into the feasible domain; return to execute the gradient calculation of the objective function with respect to the joint angle until the convergence condition is met; the joint angle finally updated is the joint space angle.

[0150] In one embodiment, the update formula of the joint angle is:

[0151]

[0152] Among them, θ 341 is the updated joint angle, θ3 is the joint angle before updating, α3 is the step size, f(θ3) is the objective function, is the gradient.

[0153] In the present application, the processor is also specifically used to execute all processes and steps of the above-mentioned high-precision robotic arm intelligent control method based on redundant joints. The specific content can refer to the records in the high-precision robotic arm intelligent control method based on redundant joints, and will not be repeated in this application.

[0154] In this application, Figure 4 Only some components are shown schematically, which does not mean that the electronic device only includes Figure 4 Components shown.

[0155] The electronic device provided in this embodiment is based on the same inventive concept as the high-precision robotic arm intelligent control method based on redundant joints provided in the embodiment of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0156] 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.

[0157] 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.

[0158] 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 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0159] 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.

[0160] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0161] 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.

[0162] The present application also provides a computer-readable storage medium corresponding to the high-precision robotic arm intelligent control method based on redundant joints provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by the processor, it will execute the high-precision robotic arm intelligent control method based on redundant joints provided in any of the aforementioned embodiments.

[0163] 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.

[0164] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the high-precision robotic arm intelligent control method based on redundant joints 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.

[0165] 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.

[0166] 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.

[0167] 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 high-precision robotic arm intelligent control method based on redundant joints, characterized in that: include: Get the planned path of the robot arm; Determine discrete path points and corresponding target poses based on the planned path; Analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection; The path of the robot arm is controlled according to the joint angles corresponding to each path point.

2. The high-precision robotic arm intelligent control method based on redundant joints according to claim 1 is characterized in that: The analyzing target posture, determining the joint angles of each joint of the robot arm corresponding to the target posture based on the gradient projection, includes: Based on the target pose, determine the target pose matrix; The joint space angles corresponding to the robot arm and the target pose matrix are calculated by the gradient projection method; Fix the end joint space angle and calculate the end joint target sub-matrix; According to the terminal joint target sub-matrix, multiple sets of analytical solutions are calculated, each set of analytical solutions is a set of joint angles; A group of analytical solutions that is closest to the joint space angle is selected from multiple groups of analytical solutions as the final joint angle.

3. The high-precision robotic arm intelligent control method based on redundant joints according to claim 2 is characterized in that: The target pose matrix is: in, is the target pose matrix, is the transformation matrix, is the forward kinematics equation of the six joints.

4. The high-precision robotic arm intelligent control method based on redundant joints according to claim 2 is characterized in that: The calculation formula of the end joint target sub-matrix is: in, is the end joint target sub-matrix, is the target pose matrix, is the transformation matrix.

5. The high-precision robotic arm intelligent control method based on redundant joints according to claim 2 is characterized in that: The calculation formula of the analytical solution is: i 2" =atan2(t1,t2) θ2=θ 2" -θ " θ ％ =atan2(t " ,t ％ ) i * =atan2(s * ,c * ) θ6=atan2(s6,c6) Among them, θ1, θ2, θ " ,θ ％ ,θ * , θ6 joint angle of analytical solution, p x 、p y 、a " ,d ％ are coordinate parameters, t1, t2, t " ,t ％ is the time parameter.

6. The high-precision robotic arm intelligent control method based on redundant joints according to claim 2 is characterized in that: The method of calculating the joint space angle corresponding to the robot arm and the target pose matrix by the gradient projection method includes: Acquire physical constraints of the robot arm, wherein the physical constraints include range limits of joint angles; Constructing an objective function in which the difference between the pose matrix corresponding to the joint space angle and the target pose matrix is ​​minimized; Get the initial joint angle and calculate the gradient of the objective function to the joint angle; Based on gradient descent, the joint angles are updated and projected into the feasible domain; Return to execute the gradient calculation of the objective function on the joint angle until the convergence condition is met; the last updated joint angle is the joint space angle.

7. The high-precision robot arm intelligent control method based on redundant joints according to claim 6 is characterized in that: The update formula of the joint angle is: Among them, θ -.1 is the updated joint angle, θ - is the joint angle before updating, α - is the step size, f(θ - ) is the objective function, is the gradient.

8. A high-precision intelligent control device for a robotic arm based on redundant joints, characterized in that: include: A path acquisition module, which is used to obtain the planned path of the robot arm; A pose determination module, which is used to determine discrete path points and corresponding target poses based on the planned path; An angle analysis module, which is used to analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection; The robot arm control module is used to control the path of the robot arm according to the joint angles corresponding to each path point.

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: Get the planned path of the robot arm; Determine discrete path points and corresponding target poses based on the planned path; Analyze the target posture and determine the joint angles of each joint of the robotic arm corresponding to the target posture based on gradient projection; The path of the robot arm is controlled according to the joint angles corresponding to each path point.

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 high-precision intelligent control method of a robotic arm based on redundant joints as described in any one of claims 1 to 7.

Images