Mechanical arm load compensation method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of mechanical arm load compensation, in particular to a mechanical arm load compensation method and device, electronic equipment and a storage medium. Position information of the tail end of the target mechanical arm under the base coordinate system and correlation parameters between load compensation parameter changes and position changes of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm are obtained; and load compensation parameters corresponding to the target load compensation type are calculated according to the position information and the associated parameters, and load compensation is conducted on the target mechanical arm. According to the method and the device, the load compensation accuracy of the variable load at the tail end of the mechanical arm can be improved, and the problem that the mechanical arm mistakenly takes the excessive load reading as the forehead external force because the sensed load is not matched with the set load, so that the mechanical arm continuously moves towards a certain direction in an uncontrolled manner is solved; abnormal sound caused by the fact that the joint of the mechanical arm cannot be correctly matched with the load is avoided, and the use experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of load compensation of a robotic arm, and in particular to a method, device, electronic equipment and storage medium for load compensation of a robotic arm. Background Art

[0002] Robot arm load calibration refers to the process of accurately determining the mass, center of mass position and other key characteristic parameters of the load carried by the end of the robot arm. Robot arm load compensation is a function based on robot arm load calibration. It means compensating for non-contact forces such as gravity generated by the robot arm when carrying a load through a specific algorithm or device to achieve stable and precise control of the load.

[0003] The existing end-of-arm load calibration and compensation technology records the six-dimensional force sensor readings of the end-of-arm force sensor in different postures, and calculates the load weight and center-of-gravity coordinates of the end-of-arm load according to the posture of the arm and the corresponding six-dimensional force sensor readings. The existing end-of-arm load calibration and compensation technology assumes that the load is a stable load by default, that is, the weight of the load and the center of gravity relative to the end-of-arm coordinate system are stable, and the default load change is only related to the posture of the arm.

[0004] However, when the load at the end of the robot arm is a variable load, the existing robot arm end load calibration and compensation technology will be used for load compensation, which will result in inaccurate compensation results. As a result, the robot arm will mistakenly believe that the extra load reading is an additional force because the load it feels does not match the set load, and will continue to move in a certain direction uncontrollably, causing the joint motor of the robot arm to make abnormal noises due to the inability to correctly adapt to the load, resulting in a poor user experience. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a robot arm load compensation method, device, electronic device and storage medium, which can improve the load compensation accuracy of the robot arm end load which is a variable load, avoid the problem that the robot arm mistakenly believes that the extra load reading is an additional force due to the mismatch between the sensed load and the set load, and thus continues to move in a certain direction uncontrollably, avoid abnormal noises caused by the joint motors of the robot arm due to the inability to correctly adapt to the load, and improve the user experience.

[0006] In a first aspect, an embodiment of the present application provides a method for compensating a load of a robotic arm, the method comprising:

[0007] During the operation of the target robotic arm, position information of the end of the target robotic arm in the base coordinate system and correlation parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm are obtained;

[0008] Calculating load compensation parameters corresponding to the target load compensation type according to the position information and the associated parameters;

[0009] Perform load compensation on the target robot arm according to the load compensation parameters.

[0010] In a possible implementation manner, the following steps are used to obtain the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm, including:

[0011] Obtaining load calibration parameters at a target calibration point on a target robotic arm corresponding to a target load compensation type;

[0012] According to the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type are calculated.

[0013] In a possible implementation manner, the load compensation types include linear load compensation and nonlinear load compensation.

[0014] In a possible implementation, if the target load compensation type is linear load compensation, then according to the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type are calculated, including:

[0015] Substituting the load calibration parameter at the target calibration point into the following formula, the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type is obtained;

[0016] K=(N′-N″) / (P′-P″);

[0017] Among them, K is the correlation parameter between the load compensation parameter change and the position change of the target robot arm under the target load compensation type, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, P′ is the position information P of the first target calibration point in the base coordinate system of the target robot arm, and P″ is the position information P of the second target calibration point in the base coordinate system of the target robot arm.

[0018] In a possible implementation, if the target load compensation type is nonlinear load compensation, then according to the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type are calculated, including:

[0019] Substituting the load calibration parameter at the target calibration point into the following formula, the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type is obtained;

[0020]

[0021]

[0022] Among them, B is the first load compensation parameter of the target robotic arm under the target load compensation type, K′ is the second load compensation parameter of the target robotic arm under the target load compensation type, P′ is the position information P of the first target calibration point in the base coordinate system of the target robotic arm, P″ is the position information P of the second target calibration point in the base coordinate system of the target robotic arm, P″′ is the position information P of the third target calibration point in the base coordinate system of the target robotic arm, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, and N″′ is the load calibration parameter N at the third target calibration point in the tool coordinate system.

[0023] In a possible implementation, calculating a load compensation parameter corresponding to a target load compensation type according to the position information and the associated parameters includes:

[0024] If the target load compensation type is linear load compensation, the position information and the associated parameters are substituted into the first load compensation formula to obtain the load compensation parameters corresponding to the target load compensation type;

[0025] If the target load compensation type is nonlinear load compensation, the position information and the associated parameters are substituted into the second load compensation formula to obtain the load compensation parameters corresponding to the target load compensation type.

[0026] In a second aspect, an embodiment of the present application further provides a mechanical arm load compensation device, the device comprising:

[0027] An acquisition module is used to acquire the position information of the end of the target robotic arm in the base coordinate system during the operation of the target robotic arm, and the correlation parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm;

[0028] A calculation module, used for calculating a load compensation parameter corresponding to a target load compensation type according to the position information and the associated parameters;

[0029] The load compensation module is used to perform load compensation on the target robot arm according to the load compensation parameters.

[0030] In one possible implementation, an acquisition module is specifically used to acquire load calibration parameters at a target calibration point on a target robotic arm corresponding to a target load compensation type; based on the load calibration parameters at the target calibration point, an associated parameter between a change in load compensation parameters and a change in position of the target robotic arm under the target load compensation type is calculated.

[0031] In a possible implementation manner, the load compensation types include linear load compensation and nonlinear load compensation.

[0032] In a possible implementation, if the target load compensation type is linear load compensation, the acquisition module is specifically used to substitute the load calibration parameter at the target calibration point into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type;

[0033] K=(N′-N″) / (P′-P″);

[0034] Among them, K is the correlation parameter between the load compensation parameter change and the position change of the target robot arm under the target load compensation type, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, P′ is the position information P of the first target calibration point in the base coordinate system of the target robot arm, and P″ is the position information P of the second target calibration point in the base coordinate system of the target robot arm.

[0035] In a possible implementation, if the target load compensation type is nonlinear load compensation, the acquisition module is specifically used to substitute the load calibration parameter at the target calibration point into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type;

[0036]

[0037]

[0038] Among them, B is the first load compensation parameter of the target robotic arm under the target load compensation type, K′ is the second load compensation parameter of the target robotic arm under the target load compensation type, P′ is the position information P of the first target calibration point in the base coordinate system of the target robotic arm, P″ is the position information P of the second target calibration point in the base coordinate system of the target robotic arm, P″′ is the position information P of the third target calibration point in the base coordinate system of the target robotic arm, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, and N″′ is the load calibration parameter N at the third target calibration point in the tool coordinate system.

[0039] In one possible implementation, the calculation module is specifically used to substitute the position information and associated parameters into a first load compensation formula to obtain load compensation parameters corresponding to the target load compensation type if the target load compensation type is linear load compensation; if the target load compensation type is nonlinear load compensation, substitute the position information and associated parameters into a second load compensation formula to obtain load compensation parameters corresponding to the target load compensation type.

[0040] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of any robot arm load compensation method as described in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the robot arm load compensation method as described in any one of the first aspects are executed.

[0042] The embodiment of the present application provides a method, device, electronic device and storage medium for load compensation of a robotic arm, the method comprising: during the operation of the target robotic arm, obtaining the position information of the end of the target robotic arm in the base coordinate system, and the associated parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm; calculating the load compensation parameters corresponding to the target load compensation type according to the position information and the associated parameters; and performing load compensation on the target robotic arm according to the load compensation parameters. The present application calculates the load compensation parameters corresponding to the target load compensation type by using the associated parameters between the load compensation parameter change and the position change of the target robotic arm, which can improve the load compensation accuracy of the robotic arm end load that is a variable load, avoid the problem that the robotic arm mistakenly believes that the extra load reading is an additional force due to the mismatch between the load it feels and the set load, and thus continues to move in a certain direction uncontrollably, avoid the abnormal noise of the joint motor of the robotic arm due to the inability to correctly adapt to the load, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A flow chart of a method for compensating a mechanical arm load provided by an embodiment of the present application is shown;

[0045] Figure 2 A flow chart of another method for compensating a load of a robotic arm provided in an embodiment of the present application is shown;

[0046] Figure 3 A schematic structural diagram of a mechanical arm load compensation device provided in an embodiment of the present application is shown;

[0047] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0049] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0050] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with a specific application scenario "the field of load compensation of a robotic arm". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "field of load compensation of a robotic arm", it should be understood that this is only an exemplary embodiment.

[0051] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0052] A method for compensating a robot arm load provided in an embodiment of the present application is described in detail below.

[0053] Reference Figure 1 As shown, it is a flow chart of a method for compensating a load of a mechanical arm provided in an embodiment of the present application. The specific execution process of the method for compensating a load of a mechanical arm is as follows:

[0054] S101. During the operation of the target robotic arm, obtain the position information of the end of the target robotic arm in the base coordinate system, and the correlation parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm.

[0055] S102: Calculate a load compensation parameter corresponding to the target load compensation type according to the position information and the associated parameters.

[0056] S103, performing load compensation on the target robotic arm according to the load compensation parameters.

[0057] An embodiment of the present application provides a method for load compensation of a robotic arm, the method comprising: during the operation of the target robotic arm, obtaining the position information of the end of the target robotic arm in the base coordinate system, and the associated parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm; calculating the load compensation parameters corresponding to the target load compensation type according to the position information and the associated parameters; and performing load compensation on the target robotic arm according to the load compensation parameters. The present application calculates the load compensation parameters corresponding to the target load compensation type by using the associated parameters between the load compensation parameter change and the position change of the target robotic arm, which can improve the load compensation accuracy of the robotic arm end load that is a variable load, avoid the problem that the robotic arm mistakenly believes that the extra load reading is an additional force due to the mismatch between the load it feels and the set load, and thus continues to move in a certain direction uncontrollably, avoid abnormal noises caused by the inability of the joint motor of the robotic arm to correctly adapt to the load, and improve the user experience.

[0058] The following is a description of the exemplary steps of the present application embodiment:

[0059] S101. During the operation of the target robotic arm, obtain the position information of the end of the target robotic arm in the base coordinate system, and the correlation parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type corresponding to the target robotic arm.

[0060] In the implementation manner of the present application, the position information of the end of the target robotic arm in the base coordinate system refers to the coordinate value of the coordinate axis in the vertical state in the base coordinate system. The load compensation type includes a linear compensation type and a nonlinear compensation type; the target load compensation type corresponding to the target robotic arm can be determined by the force sensitivity of the target robotic arm; if the force sensitivity of the target robotic arm is very sensitive (such as the force floating range is less than a preset value (such as 1N)), the target load compensation type should be a nonlinear compensation type; if the force sensitivity of the target robotic arm is insensitive (such as the force floating range is greater than a preset value (such as 1N)), the target load compensation type should be a linear compensation type. The target load compensation type can also be set by the user. The associated parameters are used to describe the relationship between the change in the load compensation parameters of the target robotic arm and the change in the position of the target robotic arm. The associated parameters of the target robotic arm are determined by the position information at the target calibration point in the target robotic arm in the base coordinate system and the load calibration parameters at the target calibration point in the tool coordinate system; the position information at the target calibration point refers to the coordinate value of the coordinate axis in the vertical state in the base coordinate system; the load calibration parameters may include one or more parameters of the load weight and the coordinate values ​​of the center of gravity of the target robotic arm in each coordinate axis in the tool coordinate system; the parameters included in the load compensation parameters are the same as the parameters included in the load calibration parameters.

[0061] Among them, the base coordinate system of the robot arm is a rectangular coordinate system based on the robot installation base; the tool coordinate system of the robot arm is a coordinate system established with the tool center point (TCP) as the origin.

[0062] The associated parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm are obtained by the following steps, including:

[0063] Step 1: Obtain load calibration parameters at a target calibration point on a target robotic arm corresponding to a target load compensation type.

[0064] In an embodiment of the present application, if the target load compensation type is a linear compensation type, the target calibration points include a first target calibration point (the highest point on the target robotic arm) and a second target calibration point (the lowest point on the target robotic arm); if the target load compensation type is a nonlinear compensation type, the target calibration points include a first target calibration point, a second target calibration point and a third target calibration point (any point on the target robotic arm except the first target calibration point and the second target calibration point, the midpoint of the highest point and the lowest point of the robotic arm is recommended).

[0065] Step 2: Calculate the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type according to the load calibration parameters at the target calibration point.

[0066] In the embodiment of the present application, if the load calibration parameter includes the load weight, the load weight at the target calibration point is substituted into the formula to obtain the correlation parameter between the load weight change and the position change of the target manipulator under the target load compensation type. If the load calibration parameter includes the coordinate values ​​of the center of gravity of the target manipulator in each coordinate axis in the tool coordinate system, the coordinate value of the center of gravity at the target calibration point in the X-axis of the tool coordinate system is substituted into the formula to obtain the correlation parameter between the coordinate value change of the center of gravity of the target manipulator under the target load compensation type in the X-axis of the tool coordinate system and the position change: the coordinate value of the center of gravity at the target calibration point in the Y-axis of the tool coordinate system is substituted into the formula to obtain the correlation parameter between the coordinate value change of the center of gravity of the target manipulator under the target load compensation type in the Y-axis of the tool coordinate system and the position change; the coordinate value of the center of gravity at the target calibration point in the Z-axis of the tool coordinate system is substituted into the formula to obtain the correlation parameter between the coordinate value change of the center of gravity of the target manipulator under the target load compensation type in the Z-axis of the tool coordinate system and the position change.

[0067] Specifically, if the target load compensation type is linear load compensation, the load calibration parameter at the target calibration point is substituted into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type;

[0068] K=(N′-N″) / (P′-P″);

[0069] Among them, K is the correlation parameter between the load compensation parameter change and the position change of the target robot arm under the target load compensation type, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, P′ is the position information P of the first target calibration point in the base coordinate system of the target robot arm, and P″ is the position information P of the second target calibration point in the base coordinate system of the target robot arm.

[0070] Specifically, if the target load compensation type is nonlinear load compensation, then according to the load calibration parameters at the target calibration point, the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type is calculated, including: substituting the load calibration parameters at the target calibration point into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type;

[0071]

[0072]

[0073] Among them, B is the first load compensation parameter of the target manipulator under the target load compensation type, K′ is the second load compensation parameter of the target manipulator under the target load compensation type, P′ is the position information P of the first target calibration point in the base coordinate system of the target manipulator, P″ is the position information P of the second target calibration point in the base coordinate system of the target manipulator, P″′ is the position information P of the third target calibration point in the base coordinate system of the target manipulator, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, and N″′ is the load calibration parameter N at the third target calibration point in the tool coordinate system.

[0074] It should be noted here that the position information P of each target calibration point in the base coordinate system of the target robot arm refers to the coordinate value of the coordinate axis of each target calibration point in the vertical state in the base coordinate system.

[0075] S102: Calculate a load compensation parameter corresponding to the target load compensation type according to the position information and the associated parameters.

[0076] In an embodiment of the present application, if the load calibration parameters include load weight, the load weight in the load compensation parameters corresponding to the target load compensation type is calculated based on the position information and the correlation parameters between the load weight change and the position change of the target robotic arm under the target load compensation type.

[0077] If the load calibration parameters include the coordinate values ​​of the center of gravity of the target manipulator in each coordinate axis in the tool coordinate system, the load compensation parameters corresponding to the target load compensation type are calculated according to the position information, the associated parameters between the coordinate value change of the center of gravity of the target manipulator in the tool coordinate system under the target load compensation type and the position change. The coordinate value of the center of gravity of the target manipulator in the tool coordinate system in the load compensation parameters corresponding to the target load compensation type is calculated according to the position information, the associated parameters between the coordinate value change of the center of gravity of the target manipulator in the tool coordinate system under the target load compensation type and the position change. The coordinate value of the center of gravity of the target manipulator in the tool coordinate system in the load compensation parameters corresponding to the target load compensation type is calculated according to the position information, the associated parameters between the coordinate value change of the center of gravity of the target manipulator in the tool coordinate system under the target load compensation type and the position change. According to the position information, the correlation parameters between the coordinate value change of the center of gravity of the target robot arm in the Z-axis in the tool coordinate system under the target load compensation type and the position change, the coordinate value of the center of gravity of the target robot arm in the Z-axis in the tool coordinate system in the load compensation parameters corresponding to the target load compensation type is calculated.

[0078] Specifically, if the target load compensation type is linear load compensation, the position information and the associated parameters are substituted into the first load compensation formula to obtain the load compensation parameter U corresponding to the target load compensation type:

[0079] U=N″+K*(TP″).

[0080] Wherein, T is the position information of the end of the target robot arm in the base coordinate system.

[0081] Specifically, if the target load compensation type is nonlinear load compensation, the position information and the associated parameters are substituted into the second load compensation formula to obtain the load compensation parameter U corresponding to the target load compensation type.

[0082] U=N″′+K′(TP″′) 2 +B(TP″′).

[0083] S103, performing load compensation on the target robotic arm according to the load compensation parameters.

[0084] Reference Figure 2 As shown, it is a flow chart of another method for compensating a load of a mechanical arm provided in an embodiment of the present application. The exemplary steps of the embodiment of the present application are described below:

[0085] S201: If the target load compensation type is linear load compensation, the position information and associated parameters are substituted into a first load compensation formula to obtain a load compensation parameter corresponding to the target load compensation type.

[0086] S202: If the target load compensation type is nonlinear load compensation, the position information and the associated parameters are substituted into a second load compensation formula to obtain a load compensation parameter corresponding to the target load compensation type.

[0087] An embodiment of the present application provides another robot arm load compensation method, which can calculate load compensation parameters corresponding to a target load compensation type.

[0088] Based on the same inventive concept, a robotic arm load compensation device corresponding to the robotic arm load compensation method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned robotic arm load compensation method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0089] Reference Figure 3 FIG. 1 is a schematic diagram of a mechanical arm load compensation device provided in an embodiment of the present application, wherein the mechanical arm load compensation device comprises:

[0090] The acquisition module 301 is used to acquire the position information of the end of the target mechanical arm in the base coordinate system and the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm during the operation of the target mechanical arm;

[0091] A calculation module 302, configured to calculate a load compensation parameter corresponding to a target load compensation type according to the position information and the associated parameters;

[0092] The load compensation module 303 is used to perform load compensation on the target robot arm according to the load compensation parameters.

[0093] In one possible implementation, the acquisition module 301 is specifically used to obtain the load calibration parameters at the target calibration point on the target robotic arm corresponding to the target load compensation type; based on the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type are calculated.

[0094] In a possible implementation manner, the load compensation types include linear load compensation and nonlinear load compensation.

[0095] In a possible implementation, if the target load compensation type is linear load compensation, the acquisition module 301 is specifically used to substitute the load calibration parameter at the target calibration point into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type;

[0096] K=(N′-N″) / (P′-P″);

[0097] Among them, K is the correlation parameter between the load compensation parameter change and the position change of the target robot arm under the target load compensation type, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, P′ is the position information P of the first target calibration point in the base coordinate system of the target robot arm, and P″ is the position information P of the second target calibration point in the base coordinate system of the target robot arm.

[0098] In a possible implementation, if the target load compensation type is nonlinear load compensation, the acquisition module 301 is specifically used to substitute the load calibration parameter at the target calibration point into the following formula to obtain the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type;

[0099]

[0100]

[0101] Among them, B is the first load compensation parameter of the target robotic arm under the target load compensation type, K′ is the second load compensation parameter of the target robotic arm under the target load compensation type, P′ is the position information P of the first target calibration point in the base coordinate system of the target robotic arm, P″ is the position information P of the second target calibration point in the base coordinate system of the target robotic arm, P″′ is the position information P of the third target calibration point in the base coordinate system of the target robotic arm, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, and N″′ is the load calibration parameter N at the third target calibration point in the tool coordinate system.

[0102] In one possible implementation, the calculation module 302 is specifically used to substitute the position information and associated parameters into a first load compensation formula to obtain load compensation parameters corresponding to the target load compensation type if the target load compensation type is linear load compensation; and to substitute the position information and associated parameters into a second load compensation formula to obtain load compensation parameters corresponding to the target load compensation type if the target load compensation type is nonlinear load compensation.

[0103] The embodiment of the present application provides a load compensation device for a mechanical arm, which includes: an acquisition module 301, which is used to obtain the position information of the end of the target mechanical arm in the base coordinate system during the operation of the target mechanical arm, and the associated parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm; a calculation module 302, which is used to calculate the load compensation parameters corresponding to the target load compensation type according to the position information and the associated parameters; a load compensation module 303, which is used to load compensate the target mechanical arm according to the load compensation parameters. The present application calculates the load compensation parameters corresponding to the target load compensation type through the associated parameters between the load compensation parameter change and the position change of the target mechanical arm, which can improve the load compensation accuracy of the mechanical arm end load as a variable load, avoid the problem that the mechanical arm mistakenly believes that the extra load reading is an additional force due to the mismatch between the load felt and the set load, and thus continues to move in a certain direction uncontrollably, avoid the abnormal noise of the joint motor of the mechanical arm due to the inability to correctly adapt to the load, and improve the user experience.

[0104] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device is running, the processor 401 and the memory 402 communicate through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the above-mentioned robot arm load compensation method.

[0105] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the above-mentioned robot arm load compensation method can be executed.

[0106] Corresponding to the above-mentioned robot arm load compensation method, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned robot arm load compensation method are executed.

[0107] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0108] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0110] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0111] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for compensating a load of a robotic arm, characterized in that: The method comprises: During the operation of the target mechanical arm, position information of the end of the target mechanical arm in the base coordinate system and correlation parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm are obtained; Calculating a load compensation parameter corresponding to the target load compensation type according to the position information and the associated parameter; Load compensation is performed on the target robotic arm according to the load compensation parameters.

2. The robot arm load compensation method according to claim 1, characterized in that: The associated parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type corresponding to the target mechanical arm are obtained by the following steps, including: Acquire a load calibration parameter at a target calibration point on the target mechanical arm corresponding to the target load compensation type; According to the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type are calculated.

3. The robot arm load compensation method according to claim 2, characterized in that: Load compensation types include linear load compensation and non-linear load compensation.

4. The robot arm load compensation method according to claim 3, characterized in that: If the target load compensation type is linear load compensation, then calculating the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type according to the load calibration parameter at the target calibration point includes: Substituting the load calibration parameter at the target calibration point into the following formula, the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type is obtained; K=(N′-N″) / (P′-P″); Among them, K is the correlation parameter between the load compensation parameter change and the position change of the target robotic arm under the target load compensation type, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N′′ is the load calibration parameter N at the second target calibration point in the tool coordinate system, P′ is the position information P of the first target calibration point in the base coordinate system of the target robotic arm, and P″ is the position information P of the second target calibration point in the base coordinate system of the target robotic arm.

5. The robot arm load compensation method according to claim 3, characterized in that: If the target load compensation type is nonlinear load compensation, then calculating the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type according to the load calibration parameter at the target calibration point includes: Substituting the load calibration parameter at the target calibration point into the following formula, the correlation parameter between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type is obtained; Among them, B is the first load compensation parameter of the target robotic arm under the target load compensation type, K′ is the second load compensation parameter of the target robotic arm under the target load compensation type, P′ is the position information P of the first target calibration point in the base coordinate system of the target robotic arm, P′′ is the position information P of the second target calibration point in the base coordinate system of the target robotic arm, P″′ is the position information P of the third target calibration point in the base coordinate system of the target robotic arm, N′ is the load calibration parameter N at the first target calibration point in the tool coordinate system, N″ is the load calibration parameter N at the second target calibration point in the tool coordinate system, and N″′ is the load calibration parameter N at the third target calibration point in the tool coordinate system.

6. The robot arm load compensation method according to claim 3, characterized in that: The calculating, according to the position information and the associated parameter, a load compensation parameter corresponding to the target load compensation type comprises: If the target load compensation type is linear load compensation, substituting the position information and the associated parameters into a first load compensation formula to obtain a load compensation parameter corresponding to the target load compensation type; If the target load compensation type is nonlinear load compensation, the position information and the associated parameters are substituted into a second load compensation formula to obtain a load compensation parameter corresponding to the target load compensation type.

7. A mechanical arm load compensation device, characterized in that: The device comprises: An acquisition module, used for acquiring position information of the end of the target mechanical arm in the base coordinate system during the operation of the target mechanical arm, and an associated parameter between a load compensation parameter change and a position change of the target mechanical arm under a target load compensation type corresponding to the target mechanical arm; A calculation module, configured to calculate a load compensation parameter corresponding to the target load compensation type according to the position information and the associated parameters; A load compensation module is used to perform load compensation on the target mechanical arm according to the load compensation parameters.

8. The mechanical arm load compensation device according to claim 7, characterized in that: Get the module, specifically for: Acquire a load calibration parameter at a target calibration point on the target mechanical arm corresponding to the target load compensation type; According to the load calibration parameters at the target calibration point, the correlation parameters between the load compensation parameter change and the position change of the target mechanical arm under the target load compensation type are calculated.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the robot arm load compensation method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the robot arm load compensation method according to any one of claims 1 to 6 are executed.

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