A method, device, electronic device and storage medium for compensating load of a robotic arm

Abstract

The present invention relates to the field of load compensation of a robotic arm, and in particular to a method, device, electronic device and storage medium for load compensation of a robotic arm, the method comprising: during the operation of a target robotic arm, obtaining the position information of the end of the target robotic arm in a 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; calculating the load compensation parameters corresponding to the target load compensation type according to the position information and the correlation parameters, and performing load compensation on the target robotic arm. This application can improve the accuracy of load compensation for a variable load at the end of the robotic arm, avoid the problem that the robotic 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 in the joints of the robotic arm due to the inability to correctly adapt to the load, and improve the user experience.

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] Manipulator load calibration is the process of accurately determining key parameters such as the mass and center of mass of the load carried by the end of the manipulator. Manipulator load compensation is a function based on this calibration. This function uses specific algorithms or devices to compensate for non-contact forces such as gravity generated by the manipulator while carrying a load, thereby achieving stable and precise control of the load.

[0003] Existing end-of-arm load calibration and compensation technology records the six-axis force sensor readings of the end-of-arm force sensor at different robot postures. Based on the robot posture and the corresponding six-axis force sensor readings, the end-of-arm load weight and its center of gravity coordinates are calculated. Existing end-of-arm load calibration and compensation technology defaults to a stable load, meaning that the load weight and center of gravity relative to the end-of-arm coordinate system are stable. The default load change is dependent only on the robot posture.

[0004] However, when the load at the end of the robotic arm is a variable load, the use of existing robotic arm end load calibration and compensation technology for load compensation will result in inaccurate compensation results. As a result, the robotic arm mistakenly believes that the extra load reading is an additional force because the load it senses does not match the set load, and thus continues to move uncontrollably in a certain direction. This causes the joint motor of the robotic 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 this 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 when the load at the end 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 uncontrollably in a certain direction, avoid abnormal noise caused by the joint motor 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 on a robotic arm, the method comprising:

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

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

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

[0010] In a possible implementation, the following steps are performed 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 corresponding to the target manipulator, including:

[0011] Obtaining load calibration parameters at a target calibration point on a target manipulator 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, the load compensation types include linear load compensation and nonlinear load compensation.

[0014] In one possible implementation, if the target load compensation type is linear load compensation, then 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 based on the load calibration parameters at the target calibration point, including:

[0015] Substituting the load calibration parameters at the target calibration point into the following formula, the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type are 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 manipulator 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 manipulator, and P″ is the position information P of the second target calibration point in the base coordinate system of the target manipulator.

[0018] In one possible implementation, if the target load compensation type is nonlinear load compensation, then 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 based on the load calibration parameters at the target calibration point, including:

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

[0020]

[0021]

[0022] 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.

[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 associated parameters are substituted into the second load compensation formula to obtain load compensation parameters corresponding to the target load compensation type.

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

[0027] an acquisition module, configured to acquire, during the operation of the target manipulator, position information of the end of the target manipulator in the base coordinate system, and correlation parameters between a load compensation parameter change and a position change of the target manipulator under a target load compensation type corresponding to the target manipulator;

[0028] a calculation module, configured to calculate 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 robotic arm according to the load compensation parameters.

[0030] In one possible embodiment, the acquisition module 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.

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

[0032] In one possible implementation, if the target load compensation type is linear load compensation, the acquisition module is specifically configured to substitute the load calibration parameter at the target calibration point into the following formula to obtain a correlation parameter between a change in the load compensation parameter and a change in the position 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 manipulator 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 manipulator, and P″ is the position information P of the second target calibration point in the base coordinate system of the target manipulator.

[0035] In one possible implementation, if the target load compensation type is nonlinear load compensation, the acquisition module is specifically configured to substitute the load calibration parameter at the target calibration point into the following formula to obtain a correlation parameter between a change in the load compensation parameter and a change in the position 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 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.

[0039] In one possible embodiment, 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; and 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.

[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 any of the robot arm load compensation methods in the first aspect 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: obtaining 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; calculating the load compensation parameters corresponding to the target load compensation type based on the position information and the correlation 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 correlation 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 when the load at the end 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 following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without paying any creative work.

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

[0045] Figure 2 A flow chart of another method for compensating a load on 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] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 illustration 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 to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, 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 of the embodiments. The components of the embodiments of the present application generally 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 claimed application, but merely represents 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 are within the scope of protection of the present application.

[0050] To enable those skilled in the art to utilize the present disclosure, the following embodiments are provided in conjunction with a specific application scenario, "Load compensation for a robotic arm." Those skilled in the art will appreciate that the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this disclosure. While this disclosure primarily focuses on the "Load compensation for a robotic arm" context, it should be understood that this is merely 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] The following is a detailed description of a robot arm load compensation method provided in an embodiment of the present application.

[0053] Reference Figure 1 FIG. 1 is a flow chart of a method for compensating a load of a manipulator provided by an embodiment of the present application. The specific execution process of the method for compensating a load of a manipulator 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 load compensation parameters corresponding to the target load compensation type according to the position information and associated parameters.

[0056] S103: Perform 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: obtaining position information of the end of the target robotic arm in a base coordinate system during the operation of the target robotic arm, 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; calculating the load compensation parameters corresponding to the target load compensation type based on the position information and the correlation 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 correlation 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 when the load at the end 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 sensed load 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.

[0058] The following describes the exemplary steps of the embodiment of the present application:

[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 embodiment of the present application, the position information of the end of the target manipulator 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 manipulator can be determined by the force sensitivity of the target manipulator; if the force sensitivity of the target manipulator is very sensitive (such as the force floating range is less than the preset value (such as 1N), etc.), the target load compensation type should be a nonlinear compensation type; if the force sensitivity of the target manipulator is insensitive (such as the force floating range is greater than the preset value (such as 1N), etc.), 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 manipulator and the change in the position of the target manipulator. The associated parameters of the target robotic arm are determined by the position information of 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, the coordinate value 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] The base coordinate system of the robot arm is a rectangular coordinate system based on the robot mounting 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 following steps are used to obtain the correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type corresponding to the target manipulator, including:

[0063] Step 1: Obtain the load calibration parameters at the target calibration point on the target manipulator corresponding to the 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 point includes 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 point includes 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, and the midpoint between 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 an 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 in 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 in the X-axis in the tool coordinate system and the position change under the target load compensation type: the coordinate value of the center of gravity at the target calibration point in the Y-axis in 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 in the Y-axis in the tool coordinate system and the position change under the target load compensation type; the coordinate value of the center of gravity at the target calibration point in the Z-axis in 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 in the Z-axis in the tool coordinate system and the position change under the target load compensation type.

[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 manipulator 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 manipulator, and P″ is the position information P of the second target calibration point in the base coordinate system of the target manipulator.

[0070] Specifically, if the target load compensation type is nonlinear load compensation, then according to the load calibration parameters at the target calibration point, calculating the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type, 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 manipulator 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 manipulator 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 load compensation parameters corresponding to the target load compensation type according to the position information and 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 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 target manipulator's center of gravity in each coordinate axis in the tool coordinate system, then the load compensation parameters corresponding to the target load compensation type are calculated based on the position information and the correlation parameter between the change in the coordinate value of the target manipulator's center of gravity in the tool coordinate system and the position change under the target load compensation type. The coordinate value of the target manipulator's center of gravity in the tool coordinate system in the load compensation parameters corresponding to the target load compensation type is calculated based on the position information and the correlation parameter between the change in the coordinate value of the target manipulator's center of gravity in the tool coordinate system and the position change under the target load compensation type. The coordinate value of the target manipulator's center of gravity in the tool coordinate system in the load compensation parameters corresponding to the target load compensation type is calculated based on the position information and the correlation parameter between the change in the coordinate value of the target manipulator's center of gravity in the tool coordinate system and the position change under the target load compensation type. According to the position information, the correlation parameters between the coordinate value change of the center of gravity of the target robot arm on the Z coordinate 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 on the Z coordinate 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 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] Where 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: Perform load compensation on the target robotic arm according to the load compensation parameters.

[0084] Reference Figure 2 FIG. 1 is a flow chart of another method for compensating a load on a robotic arm according to 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, 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.

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

[0087] An embodiment of the present application provides another method for compensating a load of a robotic arm, which is capable of calculating load compensation parameters corresponding to a target load compensation type.

[0088] Based on the same inventive concept, an embodiment of the present application also provides a robotic arm load compensation device corresponding to the robotic arm load compensation method. 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 robot arm load compensation device provided in an embodiment of the present application, wherein the robot arm load compensation device includes:

[0090] An acquisition module 301 is configured to acquire, during operation of the target manipulator, position information of the end of the target manipulator in the base coordinate system, and correlation parameters between a load compensation parameter change and a position change of the target manipulator under a target load compensation type corresponding to the target manipulator;

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

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

[0093] In one possible embodiment, 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, the load compensation types include linear load compensation and nonlinear load compensation.

[0095] In one possible implementation, if the target load compensation type is linear load compensation, the acquisition module 301 is specifically configured to substitute the load calibration parameter at the target calibration point into the following formula to obtain a correlation parameter between a change in the load compensation parameter and a change in the position 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 manipulator 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 manipulator, and P″ is the position information P of the second target calibration point in the base coordinate system of the target manipulator.

[0098] In one possible implementation, if the target load compensation type is nonlinear load compensation, the acquisition module 301 is specifically configured to substitute the load calibration parameter at the target calibration point into the following formula to obtain a 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 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.

[0102] In one possible implementation, the calculation module 302 is specifically configured to, if the target load compensation type is linear load compensation, 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 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.

[0103] An embodiment of the present application provides a load compensation device for a robotic arm, which includes: an acquisition module 301, which is used to obtain 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; a calculation module 302, which is used to calculate the load compensation parameters corresponding to the target load compensation type based on the position information and the correlation parameters; a load compensation module 303, which is used to load compensate 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 through the correlation 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.

[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, and 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 memory 402 and the 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 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 run 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 brevity 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 separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute 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 a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0111] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection 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 manipulator, position information of the end of the target manipulator in the base coordinate system and correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type corresponding to the target manipulator are obtained; Calculating a load compensation parameter corresponding to the target load compensation type according to the position information and the associated parameters; Performing load compensation on the target robotic arm according to the load compensation parameters; The correlation parameters between the load compensation parameter change and the position change of the target manipulator under the target load compensation type corresponding to the target manipulator are obtained by the following steps: obtaining the load calibration parameters at the target calibration point on the target manipulator corresponding to the target load compensation type; and calculating 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. The load compensation type includes nonlinear load compensation; if the target load compensation type is nonlinear load compensation, then calculating, based on 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 manipulator under the target load compensation type, includes: 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 manipulator under the target load compensation type; ； ； in, is the first load compensation parameter of the target manipulator under the target load compensation type, is the second load compensation parameter of the target manipulator under the target load compensation type, The position information of the first target calibration point in the base coordinate system of the target manipulator , The position information of the second target calibration point in the base coordinate system of the target manipulator , The position information of the third target calibration point in the base coordinate system of the target manipulator , The load calibration parameters at the first target calibration point in the tool coordinate system , The load calibration parameters at the second target calibration point in the tool coordinate system , The load calibration parameters at the third target calibration point in the tool coordinate system .

2. The robot arm load compensation method according to claim 1, characterized in that: The load compensation type also includes linear load compensation.

3. The robot arm load compensation method according to claim 2, characterized in that: If the target load compensation type is linear load compensation, then calculating, 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 manipulator under the target load compensation type 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 manipulator under the target load compensation type is obtained; ； in, is the correlation parameter between the load compensation parameter change and the position change of the target manipulator under the target load compensation type, The load calibration parameters at the first target calibration point in the tool coordinate system , Load calibration parameters for the second target calibration point in the tool coordinate system , The position information of the first target calibration point in the base coordinate system of the target manipulator , The position information of the second target calibration point in the base coordinate system of the target manipulator .

4. The method for compensating a load on a robotic arm according to claim 2, wherein: The calculating, according to the position information and the associated parameters, a load compensation parameter corresponding to the target load compensation type includes: 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.

5. A robot arm load compensation device, characterized in that: The device comprises: an acquisition module, configured to acquire, during the operation of the target manipulator, position information of the end of the target manipulator in the base coordinate system, and correlation parameters between a load compensation parameter change and a position change of the target manipulator under a target load compensation type corresponding to the target manipulator; 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, configured to perform load compensation on the target robotic arm according to the load compensation parameters; The acquisition module is specifically configured to acquire a load calibration parameter at a target calibration point on the target manipulator corresponding to the target load compensation type; and calculate, based on the load calibration parameter at the target calibration point, a correlation parameter between a change in the load compensation parameter and a change in the position of the target manipulator under the target load compensation type. The load compensation type includes nonlinear load compensation; if the target load compensation type is nonlinear load compensation, the acquisition module is specifically configured to substitute the load calibration parameter at the target calibration point into the following formula to obtain a correlation parameter between a change in the load compensation parameter and a change in the position of the target manipulator under the target load compensation type; ； ； in, is the first load compensation parameter of the target manipulator under the target load compensation type, is the second load compensation parameter of the target manipulator under the target load compensation type, The position information of the first target calibration point in the base coordinate system of the target manipulator , The position information of the second target calibration point in the base coordinate system of the target manipulator , The position information of the third target calibration point in the base coordinate system of the target manipulator , The load calibration parameters at the first target calibration point in the tool coordinate system , The load calibration parameters at the second target calibration point in the tool coordinate system , The load calibration parameters at the third target calibration point in the tool coordinate system .

6. 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. 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 the robot arm load compensation method as described in any one of claims 1 to 4.

7. 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 4 are executed.

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