Fast control method, system and storage medium for elastic compensation of rope-driven elbow joint

Abstract

The present application discloses a fast control method, system and storage medium for elastic compensation of a rope-driven elbow joint, and relates to the technical field of rope-driven joint control. The fast control method includes: determining the dynamic target of the rope-driven elbow joint; determining the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the rope deformation of the first rope, and the rope deformation of the second rope; determining the desired trajectory of the active part; determining the desired torque of the active part; determining the desired trajectory of the driving part; determining the control torque of the driving part according to the angular displacement of the active part, the desired trajectory of the active part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation of the first rope, and the rope deformation of the second rope. The present application introduces a compensation term for rope elasticity into the control torque of the driving part, thereby improving the motion accuracy of the rope-driven elbow joint.

Description

Technical Field

[0001] The present application relates to the technical field of rope-driven joint control, and in particular to a rapid control method, system and storage medium for elastic compensation of a rope-driven elbow joint. Background Art

[0002] At present, the manipulator structure of industrial robots can be controlled by an anthropomorphic rope-driven joint mechanism. The anthropomorphic rope-driven joint structure has the characteristics of high stiffness and low inertia, which improves the control bandwidth and corresponding speed of industrial robots.

[0003] However, the inventor of the present application has found that in the current control of the rope-driven manipulator or the rope-driven arm joint mechanism, the rope is usually assumed to be a rigid body, and the influence of the rope stiffness on the performance of the manipulator is not considered. For example, during the rapid and high-frequency movement of the execution end of the rope-driven arm joint mechanism, since the driving torque required by the execution end is large, the rope needs to increase the deformation amount to provide the driving torque, and the rope stiffness reduces the movement accuracy of the execution end of the rope-driven arm joint mechanism.

[0004] The contents of the background technology are merely technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0005] The present application aims to provide a fast control method, system and storage medium for elastic compensation of a rope-driven elbow joint, so as to solve the problem that the motion accuracy of a rope-driven arm joint mechanism is reduced due to rope stiffness.

[0006] According to one aspect of the present application, the present application provides a rapid control method for elastic compensation of a rope-driven elbow joint. The rope-driven elbow joint is connected to a driving part, and the rope-driven elbow joint includes a first rope, a second rope, and a movable part. One end of the first rope is rotatably connected to one end of the driving part, and the other end of the first rope is rotatably connected to one end of the movable part. One end of the second rope is rotatably connected to the other end of the driving part, and the other end of the second rope is rotatably connected to the other end of the movable part. The rapid control method includes: determining the dynamic target of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; determining the angular displacement of the movable part, the moment of inertia of the movable part, the angular displacement of the driving part, the rope deformation of the first rope, and the second rope deformation of the second rope according to the dynamic target of the rope-driven elbow joint. rope deformation of the second rope; determining the expected trajectory of the movable part; determining the expected torque of the movable part according to the expected trajectory of the movable part, the angular displacement of the movable part and the moment of inertia of the movable part; determining the expected trajectory of the driving part according to the angular displacement of the movable part, the expected trajectory of the movable part and the expected torque of the movable part; determining the control torque of the driving part according to the angular displacement of the movable part, the expected trajectory of the movable part, the angular displacement of the driving part, the expected trajectory of the driving part, the rope deformation of the first rope and the rope deformation of the second rope, so that the driving part is driven according to the control torque of the driving part, thereby causing the movable part to perform angular displacement according to the expected trajectory of the movable part.

[0007] According to some embodiments of the present application, determining the dynamic target of a rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint includes: determining the dynamic target of the active part of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; determining the dynamic target of the rope change amount of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; determining the dynamic target of the driving part of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; determining the dynamic target of the rope-driven elbow joint according to the dynamic target of the active part of the rope-driven elbow joint, the dynamic target of the rope change amount of the rope-driven elbow joint and the dynamic target of the driving part of the rope-driven elbow joint.

[0008] According to some embodiments of the present application, determining an expected torque of the moving part according to an expected trajectory of the moving part and an angular displacement of the moving part includes: determining a first value of the expected trajectory of the moving part and a second value of the expected trajectory of the moving part according to the expected trajectory of the moving part; determining a first value of the angular displacement of the moving part and the moment of inertia of the moving part according to the angular displacement of the moving part; determining a tracking error of the moving part according to the angular displacement of the moving part and the expected trajectory of the moving part; determining the expected torque of the moving part according to the first value of the expected trajectory of the moving part, the second value of the expected trajectory of the moving part, the angular displacement of the moving part, the first value of the angular displacement of the moving part, the tracking error of the moving part and the moment of inertia of the moving part.

[0009] According to some embodiments of the present application, determining the desired trajectory of the driving part according to the angular displacement of the moving part, the desired trajectory of the moving part, and the desired torque of the moving part includes: determining the desired trajectory of the driving part according to the desired torque of the moving part, the angular displacement of the moving part, and the tracking error of the moving part.

[0010] According to some embodiments of the present application, a desired trajectory of the driving unit is determined according to the angular displacement of the movable unit, the desired trajectory of the movable unit, and the desired torque of the movable unit; a control torque of the driving unit is determined according to the angular displacement of the movable unit, the desired trajectory of the movable unit, the angular displacement of the driving unit, the desired trajectory of the driving unit, the rope deformation amount of the first rope, and the rope deformation amount of the second rope, so that the driving unit is driven according to the control torque of the driving unit, thereby causing the movable unit to perform an angular displacement according to the desired trajectory of the movable unit, including: determining a first value of the desired trajectory of the driving unit and a second value of the desired trajectory of the driving unit according to the desired trajectory of the driving unit; determining the first value of the angular displacement of the driving unit according to the angular displacement of the driving unit; determining the control torque of the driving unit according to the angular displacement of the driving unit. and the desired trajectory of the driving unit to determine the tracking error of the driving unit; determine the tracking error of the rope deformation of the first rope according to the rope deformation of the first rope, the tracking error of the movable unit and the tracking error of the driving unit; determine the tracking error of the rope deformation of the second rope according to the rope deformation of the second rope, the tracking error of the movable unit and the tracking error of the driving unit; determine the control torque of the driving unit according to the angular displacement of the driving unit, the first value of the desired trajectory of the driving unit, the second value of the desired trajectory of the driving unit, the first value of the angular displacement of the driving unit, the tracking error of the driving unit, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope and the tracking error of the rope deformation of the second rope.

[0011] According to one aspect of the present application, the present application provides a rapid control system for elastic compensation of a rope-driven elbow joint. The rope-driven elbow joint is connected to a driving part, and the rope-driven elbow joint includes a first rope, a second rope, and a movable part, one end of the first rope is rotatably connected to one end of the driving part, the other end of the first rope is rotatably connected to one end of the movable part, one end of the second rope is slidably connected to the other end of the driving part, and the other end of the second rope is slidably connected to the other end of the movable part, and the rapid control system includes a processing module. The processing module determines the dynamic target of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; the processing module determines the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the rope deformation of the first rope and the rope deformation of the second rope according to the dynamic target of the rope-driven elbow joint; the processing module determines the expected trajectory of the active part; the processing module determines the expected torque of the active part according to the expected trajectory of the active part, the angular displacement of the active part and the moment of inertia of the active part; the processing module determines the expected trajectory of the driving part according to the angular displacement of the active part, the expected trajectory of the active part and the expected torque of the active part; the processing module determines the control torque of the driving part according to the angular displacement of the active part, the expected trajectory of the active part, the angular displacement of the driving part, the expected trajectory of the driving part, the rope deformation of the first rope and the rope deformation of the second rope, so that the driving part is driven according to the control torque of the driving part, so that the active part performs angular displacement according to the expected trajectory of the active part.

[0012] According to some embodiments of the present application, the processing module determines the dynamic target of the active part of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; the processing module determines the dynamic target of the rope change amount of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; the processing module determines the dynamic target of the driving part of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint; the processing module determines the dynamic target of the rope-driven elbow joint according to the dynamic target of the active part of the rope-driven elbow joint, the dynamic target of the rope change amount of the rope-driven elbow joint and the dynamic target of the driving part of the rope-driven elbow joint.

[0013] According to some embodiments of the present application, the processing module determines a first value of an expected trajectory of the moving part and a second value of the expected trajectory of the moving part according to the expected trajectory of the moving part; the processing module determines a first value of the angular displacement of the moving part and the moment of inertia of the moving part according to the angular displacement of the moving part; the processing module determines a tracking error of the moving part according to the angular displacement of the moving part and the expected trajectory of the moving part; the processing module determines an expected torque of the moving part according to the first value of the expected trajectory of the moving part, the second value of the expected trajectory of the moving part, the angular displacement of the moving part, the first value of the angular displacement of the moving part, the tracking error of the moving part and the moment of inertia of the moving part.

[0014] According to some embodiments of the present application, the processing module determines the expected trajectory of the driving part according to the expected torque of the moving part, the angular displacement of the moving part, and the tracking error of the moving part.

[0015] According to some embodiments of the present application, the processing module determines a first value of the expected trajectory of the driving unit and a second value of the expected trajectory of the driving unit according to the expected trajectory of the driving unit; the processing module determines a first value of the angular displacement of the driving unit according to the angular displacement of the driving unit; the processing module determines a tracking error of the driving unit according to the angular displacement of the driving unit and the expected trajectory of the driving unit; the processing module determines a tracking error of the rope deformation of the first rope according to the rope deformation of the first rope, the tracking error of the active part and the tracking error of the driving unit; the processing module determines a tracking error of the rope deformation of the second rope according to the rope deformation of the second rope, the tracking error of the active part and the tracking error of the driving unit; the processing module determines the control torque of the driving unit according to the angular displacement of the driving unit, the first value of the expected trajectory of the driving unit, the second value of the expected trajectory of the driving unit, the first value of the angular displacement of the driving unit, the tracking error of the driving unit, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

[0016] According to another aspect of the present application, the present application further provides a non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the rapid control method for elastic compensation of a rope-driven elbow joint as described above.

[0017] According to another aspect of the present application, the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the one or more processors are enabled to implement the rapid control method of rope-driven elbow joint elastic compensation as described above.

[0018] According to another aspect of the present application, the present application also provides a computer program product, including: a computer program stored on a computer-readable storage medium; the computer program includes program instructions, and when the program instructions are executed by the computer, the computer executes the rapid control method for rope-driven elbow joint elastic compensation as described above.

[0019] Beneficial Effects

[0020] The rapid control method provided by the present application can determine the objective function describing the preset dynamic parameter relationship of the rope-driven elbow joint through the preset dynamic parameters of the rope-driven elbow joint. The present application can determine the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope through the dynamic target of the rope-driven elbow joint. The present application can determine the expected trajectory of the active part through the rotational motion range and the rotational motion speed of the active part. The present application can determine the expected torque of the active part through the expected trajectory of the active part, the angular displacement of the active part, and the moment of inertia of the active part. The present application can determine the expected trajectory of the driving part through the angular displacement of the active part, the expected trajectory of the active part, and the expected torque of the active part. The present application can determine the control torque of the driving part through the angular displacement of the active part, the expected trajectory of the active part, the angular displacement of the driving part, the expected trajectory of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope.

[0021] The fast control method provided in the present application introduces a rope stiffness parameter into the dynamic target of the rope-driven elbow joint, and introduces a compensation term of the rope elasticity into the control torque of the driving part, so that the motion trajectory of the active part can be a fast, high-frequency desired trajectory, thereby improving the motion accuracy of the rope-driven elbow joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic flow chart of a fast control method 1000 for elastic compensation of a rope-driven elbow joint according to an embodiment of the present application is shown;

[0024] Figure 2 A schematic structural diagram of a rope-driven elbow joint according to an embodiment of the present application is shown;

[0025] Figure 3 A schematic diagram showing the process of step S110 according to an embodiment of the present application is shown;

[0026] Figure 4 A schematic diagram showing the process of step S130 according to an embodiment of the present application is shown;

[0027] Figure 5 A schematic diagram showing the process of step S140 according to an embodiment of the present application is shown;

[0028] Figure 6 A schematic diagram showing the process of step S150 according to an embodiment of the present application is shown;

[0029] Figure 7 A schematic diagram showing the process of step S160 according to an embodiment of the present application is shown;

[0030] Figure 8 A schematic diagram showing the angular displacement of the movable part and the expected trajectory of the driving part determined by the fast control system according to an embodiment of the present application;

[0031] Fig. 9 A schematic diagram showing a control torque of a driving unit determined by a fast control system according to an embodiment of the present application;

[0032] Fig.10 A schematic structural diagram of a fast control system for elastic compensation of a rope-driven elbow joint according to an embodiment of the present application is shown;

[0033] Fig.11 Another structural schematic diagram of a rapid control system for elastic compensation of a rope-driven elbow joint according to an embodiment of the present application is shown.

[0034] Reference numerals:

[0035] Rope-driven elbow joint 200; driving unit 300.

[0036] The movable part 210 ; the first rope 220 ; and the second rope 230 .

[0037] Fixed connecting rod 211; movable connecting rod 212.

[0038] The first disc structure 2111 ; the second disc structure 2121 .

[0039] Rapid control system 400.

[0040] Processing module 410; Collection module 420. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0042] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0043] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0044] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0045] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0046] like Fig.10 As shown, the present application provides a fast control system 400 for elastic compensation of a rope-driven elbow joint. The fast control system 400 may include a processing module 410. Fig.11 As shown, the fast control system 400 may include a processing module 410 and a collection module 420. The fast control system 400 may control the rope-driven elbow joint according to a fast control method for elastic compensation of the rope-driven elbow joint.

[0047] Combine the following Fig.10 and Fig.11 To describe the rapid control method for elastic compensation of the rope-driven elbow joint provided in this application.

[0048] See also Figure 1 , the rapid control method 1000 may include steps S110 to S160.

[0049] See also Figure 2The rope-driven elbow joint 200 is connected to the driving part 300, and the rope-driven elbow joint 200 includes a first rope 220, a second rope 230, and a movable part 210. One end of the first rope 220 is rotatably connected to one end of the driving part 300, the other end of the first rope 220 is rotatably connected to one end of the movable part 210, one end of the second rope 230 is rotatably connected to the other end of the driving part 300, and the other end of the second rope 230 is rotatably connected to the other end of the movable part 210.

[0050] For example, the driving part 300 may be a driving motor, and the driving motor may be connected to the first rope 220 and the second rope 230 through a drum. The movable part 210 may include a fixed link 211 and a movable link 212. One end of the fixed link 211 is a first disc structure 2111, and one end of the movable link 212 is a second disc structure 2121. The first disc structure 2111 is tangentially arranged with the second disc structure 2121. Two pulleys are arranged at both ends of the first disc structure 2111 along the disc diameter. Two pulleys are arranged at both ends of the second disc structure 2121 along the disc diameter. The second disc structure 2121 performs rotational motion along the circumference of the first disc structure 2111.

[0051] One end of the first rope 220 may be rotatably connected to one end of the driving part 300 through a drum. For example, one end of the first rope 220 may be fixedly connected to the drum of the driving part 300 (driving motor), and when the drum of the driving part 300 (driving motor) rotates, the drum drives the first rope 220 to rotate. The other end of the first rope 220 may be rotatably connected to the first disc structure 2111 through a pulley. For example, the other end of the first rope 220 may be fixedly connected to a pulley of the first disc structure 2111, and when the pulley rotates, the pulley drives the first rope 220 to rotate. The first rope 220 may also be wound between the first disc structure 2111 and the second disc structure 2121 for multiple turns through a pulley of the second disc structure 2121 to increase the reduction ratio between the driving part 300 and the movable part 210. When the drum drives the first rope 220 to rotate, the first rope 220 drives the second disc structure 2121 to rotate in the forward direction along the circumference of the first disc structure 2111.

[0052] One end of the second rope 230 may be rotatably connected to the other end of the driving part 300 through a drum. For example, one end of the second rope 230 may be fixedly connected to the drum of the driving part 300 (driving motor), and when the drum of the driving part 300 (driving motor) rotates, the drum drives the second rope 230 to rotate. The other end of the second rope 230 may be rotatably connected to the first disc structure 2111 through a pulley. For example, the other end of the second rope 230 may be fixedly connected to another pulley of the first disc structure 2111, and when the pulley rotates, the pulley drives the second rope 230 to rotate. The second rope 230 may also be wound between the first disc structure 2111 and the second disc structure 2121 for multiple turns through another pulley of the second disc structure 2121 to increase the reduction ratio between the driving part 300 and the movable part 210. When the drum drives the second rope 230 to rotate, the second rope 230 drives the second disc structure 2121 to rotate in the opposite direction along the circumference of the first disc structure 2111.

[0053] In step S110, the processing module 410 determines the dynamic target of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint.

[0054] According to an example embodiment, the preset power parameters of the rope-driven elbow joint may be parameters of the motion state of the rope-driven elbow joint.

[0055] For example, the preset dynamic parameters of the rope-driven elbow joint may include the stiffness of the first rope, the stiffness of the second rope, the radius of the first disc structure, the radius of the second disc structure, the number of turns of the first rope at the first disc structure and the second disc structure, the number of turns of the second rope at the first disc structure and the second disc structure, the distance between the pulley in the first disc structure and the center of the second disc structure, the distance between the pulley in the second disc structure and the center of the second disc structure, the mass of the movable link, the angular displacement of the movable part, the tracking error of the movable part, the moment of inertia of the movable part, the rotation speed of the movable link around the movable link The moment of inertia of the center of mass, the distance between the center of mass of the movable link and the center of the second disk structure, the angular displacement of the driving unit, the tracking error of the driving unit, the moment of inertia of the driving unit (i.e., the moment of inertia of the driving motor and the drum), the drum radius of the driving unit (driving motor), the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, the tracking error of the rope deformation of the second rope, the total external torque received by the movable unit, the total external torque received by the driving unit, the expected trajectory of the movable unit, the expected torque of the movable unit, the expected trajectory of the driving unit and the control torque of the driving unit.

[0056] The preset power parameters of the rope-driven elbow joint may include preset power constant parameters and preset power variable parameters. The preset power constant parameters may be known constants.

[0057] The preset dynamic constant parameters may include the stiffness of the first rope, the stiffness of the second rope, the radius of the first disc structure, the radius of the second disc structure, the number of turns of the first rope at the first disc structure and the second disc structure, the number of turns of the second rope at the first disc structure and the second disc structure, the distance between the pulley in the first disc structure and the center of the second disc structure, the distance between the pulley in the second disc structure and the center of the second disc structure, the mass of the movable link, the moment of inertia of the movable link around the center of mass of the movable link, the distance between the center of mass of the movable link and the center of the second disc structure, the moment of inertia of the driving unit (i.e., the moment of inertia of the driving motor and the drum), and the drum radius of the driving unit (driving motor).

[0058] The preset dynamic variable parameters may include the angular displacement of the movable part, the tracking error of the movable part, the moment of inertia of the movable part, the angular displacement of the driving part, the tracking error of the driving part, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, the tracking error of the rope deformation of the second rope, the total external torque applied to the movable part, the total external torque applied to the driving part, the expected trajectory of the movable part, the expected torque of the movable part, the expected trajectory of the driving part, and the control torque of the driving part.

[0059] The dynamics target of the rope-driven elbow joint may be an objective function that is determined according to the preset dynamic parameters of the rope-driven elbow joint and describes the relationship between the preset dynamic parameters of the rope-driven elbow joint.

[0060] For example, in step S110, the processing module 410 may determine the dynamics target of the rope-driven elbow joint according to the connection relationship of the rope-driven elbow joint and the preset dynamic parameters of the rope-driven elbow joint.

[0061] In step S120, the processing module 410 determines the angular displacement of the movable part, the moment of inertia of the movable part, the angular displacement of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope according to the dynamic target of the rope-driven elbow joint.

[0062] According to an example embodiment, the processing module 410 may determine a first value of the angular displacement of the movable part according to the angular displacement of the movable part. The first value of the angular displacement of the movable part may be a first-order derivative of the angular displacement of the movable part. For example, the processing module 410 may determine the first value of the angular displacement of the movable part by a differentiator or a resolver.

[0063] The processing module 410 may determine the first value of the angular displacement of the driving unit according to the angular displacement of the driving unit. The first value of the angular displacement of the driving unit may be a first-order derivative of the angular displacement of the driving unit. For example, the processing module 410 may determine the first value of the angular displacement of the driving unit by a differentiator or a resolver.

[0064] According to the example embodiment, the processing module 410 can solve the dynamic target of the rope-driven elbow joint according to the value of the preset dynamic constant parameter, the initial value of the angular displacement of the active part, the initial value of the first value of the angular displacement of the active part, the initial value of the angular displacement of the driving part, and the initial value of the first value of the angular displacement of the driving part, thereby calculating the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the moment of inertia of the driving part, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

[0065] Alternatively, the acquisition module 420 may be a sensor. The sensor is electrically connected to the movable part, and the sensor is electrically connected to the driving part. The sensor electrically connected to the movable part can acquire the numerical value of the angular displacement of the movable part and the numerical value of the first value of the angular displacement of the movable part in real time. The sensor electrically connected to the driving part can acquire the numerical value of the angular displacement of the driving part and the numerical value of the first value of the angular displacement of the driving part in real time. The acquisition module 420 is electrically connected to the processing module 410, and the acquisition module 420 sends the numerical value of the angular displacement of the movable part, the numerical value of the first value of the angular displacement of the movable part, the numerical value of the angular displacement of the driving part, and the numerical value of the first value of the angular displacement of the driving part acquired in real time to the processing module 410.

[0066] The processing module 410 can also solve the dynamic target of the rope-driven elbow joint according to the numerical value of the preset dynamic constant parameter, the numerical value of the angular displacement of the active part, the numerical value of the first value of the angular displacement of the active part, the numerical value of the angular displacement of the driving part and the numerical value of the first value of the angular displacement of the driving part, thereby calculating the tracking error of the active part, the moment of inertia of the active part, the tracking error of the driving part, the moment of inertia of the driving part, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope and the tracking error of the rope deformation of the second rope.

[0067] In step S130 , the processing module 410 determines a desired trajectory of the moving part.

[0068] According to an example embodiment, the desired trajectory of the movable part may be a preset motion trajectory route of the movable part. The processing module 410 may determine the desired trajectory of the movable part according to the maximum rotational motion range and the maximum rotational motion speed of the movable part. The maximum rotational motion range and the maximum rotational motion speed may be set according to user requirements. The desired trajectory of the movable part satisfies a first preset trajectory condition. The first preset trajectory condition may be that the desired trajectory of the movable part is smooth. For example, the first preset trajectory condition may be that the expression of the desired trajectory of the movable part is at least fourth-order differentiable.

[0069] For example, the processing module 410 may determine the desired trajectory of the movable portion as a fifth-order polynomial or a sine function.

[0070] In step S140 , the processing module 410 determines a desired torque of the movable part according to the desired trajectory of the movable part, the angular displacement of the movable part, and the moment of inertia of the movable part.

[0071] According to example embodiments, the desired torque of the movable part may be a torque value that the movable part is desired to achieve so that the motion trajectory of the movable part is the desired trajectory of the movable part.

[0072] According to an example embodiment, the processing module 410 may determine a second value of the angular displacement of the movable part based on the first value of the angular displacement of the movable part. The second value of the angular displacement of the movable part may be a second-order derivative of the angular displacement of the movable part. For example, the processing module 410 may determine the second value of the angular displacement of the movable part through a differentiator or a resolver.

[0073] For example, the processing module 410 may determine the desired torque of the movable part according to the desired trajectory of the movable part, the angular displacement of the movable part, the first value of the angular displacement of the movable part, the second value of the angular displacement of the movable part, and the moment of inertia of the movable part.

[0074] In step S150 , the processing module 410 determines the expected trajectory of the driving part according to the angular displacement of the movable part, the expected trajectory of the movable part, and the expected torque of the movable part.

[0075] According to example embodiments, the desired trajectory of the driving portion may be a motion trajectory route of the desired driving portion such that the motion trajectory of the movable portion is the desired trajectory of the movable portion.

[0076] According to an example embodiment, the processing module 410 may determine the tracking error of the moving part according to the angular displacement of the moving part and the expected trajectory of the moving part. The tracking error of the moving part may be the difference between the angular displacement of the moving part and the expected trajectory of the moving part.

[0077] For example, the processing module 410 determines the expected trajectory of the driving part according to the angular displacement of the moving part, the tracking error of the moving part, and the expected torque of the moving part.

[0078] In step S160, the processing module 410 determines the control torque of the driving part according to the angular displacement of the movable part, the desired trajectory of the movable part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation of the first rope and the rope deformation of the second rope, so that the driving part is driven according to the control torque of the driving part, thereby causing the movable part to perform angular displacement according to the desired trajectory of the movable part.

[0079] According to example embodiments, the control torque of the driving unit may be a torque value that the driving unit is expected to achieve in order to make the motion trajectory of the driving unit the expected trajectory of the driving unit.

[0080] According to an example embodiment, the processing module 410 may determine the tracking error of the driving according to the angular displacement of the driving unit and the expected trajectory of the driving unit. The tracking error of the driving unit may be the difference between the angular displacement of the driving unit and the expected trajectory of the driving unit.

[0081] According to an example embodiment, the rope deformation amount of the first rope may be the rope length deformation amount of the first rope caused by the movement of the driving part and the movable part. The rope deformation amount of the second rope may be the rope length deformation amount of the second rope caused by the movement of the driving part and the movable part. The rope deformation amount of the first rope and the rope deformation amount of the second rope are opposite numbers.

[0082] The rope deformation tracking error of the first rope can be determined according to the tracking error of the movable part and the tracking error of the driving part. The rope deformation tracking error of the second rope can be determined according to the tracking error of the movable part and the tracking error of the driving part. The rope deformation tracking error of the first rope and the rope deformation tracking error of the second rope are inverse numbers of each other.

[0083] For example, the processing module 410 can determine the control torque of the driving part based on the angular displacement of the movable part, the desired trajectory of the movable part, the tracking error of the movable part, the angular displacement of the driving part, the desired trajectory of the driving part, the tracking error of the driving part, the moment of inertia of the driving part, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

[0084] According to an example embodiment, the processing module 410 may send a driving instruction to the driving unit, wherein the driving instruction includes control torque information of the driving unit. After receiving the driving instruction, the driving unit moves according to the control torque of the driving unit, so that the driving unit performs an angular displacement according to the control torque of the driving unit. The driving unit drives the movable part to move through the first rope and the second rope, so that the movable part performs an angular displacement according to the desired trajectory of the movable part.

[0085] Through the above-mentioned embodiments, the fast control method 1000 provided by the present application can determine the target function describing the preset dynamic parameter relationship of the rope-driven elbow joint by the preset dynamic parameters of the rope-driven elbow joint. The present application can determine the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the moment of inertia of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope by the dynamic target of the rope-driven elbow joint. The present application can determine the expected trajectory of the active part by the rotational motion range and the rotational motion speed of the active part. The present application can determine the expected torque of the active part by the expected trajectory of the active part, the angular displacement of the active part, and the moment of inertia of the active part. The present application can determine the expected trajectory of the driving part by the angular displacement of the active part, the expected trajectory of the active part, and the expected torque of the active part. The present application can determine the control torque of the driving part by the angular displacement of the active part, the expected trajectory of the active part, the angular displacement of the driving part, the expected trajectory of the driving part, the moment of inertia of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope.

[0086] The fast control method 1000 provided in the present application introduces a rope stiffness parameter into the dynamic target of the rope-driven elbow joint, and introduces a compensation term of the rope elasticity into the control torque of the driving part, so that the motion trajectory of the active part can be a fast, high-frequency desired trajectory, thereby improving the motion accuracy of the rope-driven elbow joint.

[0087] Alternatively, see Figure 3 , step S110 may include steps S111 to S114.

[0088] In step S111 , the processing module 410 determines a dynamic target of the active part of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint.

[0089] According to an example embodiment, the dynamics target of the movable part may be a dynamics target function of the movable part rigid body of the rope-driven elbow joint, for example, the dynamics target of the movable part may be a dynamics target function of a fixed link and a movable link in the movable part.

[0090] According to an example embodiment, the processing module 410 may determine a dynamics target of the active part of the rope-driven elbow joint according to a dynamics relationship between a fixed link and a movable link in the active part of the rope-driven elbow joint.

[0091] For example, in step S111, the processing module 410 may determine the dynamics target of the active part of the rope-driven elbow joint according to the following formula:

[0092] ;

[0093] in, is the moment of inertia of the movable link around the center of mass of the movable link; is the mass of the movable connecting rod; is the radius of the second disk structure (e.g. Figure 2 ), and the radius of the second disk structure is equal to the radius of the first disk structure (as shown in Figure 2 shown); is the distance between the center of mass of the movable link and the center of the second disc structure; is the angular displacement of the active part, that is, the angular displacement of the second connecting rod (such as Figure 2 shown); for The first derivative of is the first value of the angular displacement of the active part; for The second derivative of is the second value of the angular displacement of the active part; is the acceleration due to gravity; is the total external torque acting on the moving part.

[0094] In step S112, the processing module 410 determines a rope variation dynamics target of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint.

[0095] According to an example embodiment, the rope variation dynamics target may be a dynamics target function of the rope variation of the first rope and the rope variation of the second rope. The rope variation dynamics target may include the rope variation dynamics target of the first rope and the rope variation dynamics target of the second rope. Furthermore, the rope variation dynamics target of the first rope and the rope variation dynamics target of the second rope are mutually inverse numbers.

[0096] For example, in step S112, the processing module 410 may determine the first rope variation dynamics target of the rope-driven elbow joint according to the following formula:

[0097] ;

[0098] in, is the rope deformation of the first rope; is the radius of the reel of the drive unit (drive motor) (e.g. Figure 2 shown); is the angular displacement of the drive unit (e.g. Figure 2 shown); is the distance between the pulley in the first disc structure and the center of the second disc structure (e.g. Figure 2 shown), and is the distance between the pulley in the second disc structure and the center of the second disc structure, that is, the distance between the pulley in the first disc structure and the center of the second disc structure is equal to the distance between the pulley in the second disc structure and the center of the second disc structure (such as Figure 2 shown); is the number of turns of the first rope at the first disc structure and the second disc structure, and is the number of turns of the second rope at the first disc structure and the second disc structure, that is, the number of turns of the first rope at the first disc structure and the second disc structure is equal to the number of turns of the second rope at the first disc structure and the second disc structure.

[0099] The processing module 410 determines the rope deformation dynamics target of the second rope of the rope-driven elbow joint as .

[0100] In step S113, the processing module 410 determines the driving part dynamics target of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint.

[0101] According to an example embodiment, the driving unit dynamics target may be a dynamics target function of the driving unit. The processing module 410 may determine the driving unit dynamics target according to the dynamics relationship of the driving unit.

[0102] For example, in step S113, the processing module 410 may determine the driving unit dynamics target according to the following formula:

[0103] ;

[0104] in, is the moment of inertia of the driving unit, that is, the moment of inertia of the driving motor and the reel; is the total external torque acting on the driving part; for The second-order derivative of is the second value of the angular displacement of the driving unit.

[0105] According to an example embodiment, the processing module 410 may determine the second value of the angular displacement of the movable part according to the first value of the angular displacement of the driving part. The second value of the angular displacement of the driving part may be a second-order derivative of the angular displacement of the driving part. For example, the processing module 410 may determine the second value of the angular displacement of the driving part by a differentiator or a resolver.

[0106] In step S114, the processing module 410 determines the dynamics target of the rope-driven elbow joint according to the dynamics target of the active part of the rope-driven elbow joint, the dynamics target of the rope variation of the rope-driven elbow joint, and the dynamics target of the driving part of the rope-driven elbow joint.

[0107] According to an example embodiment, the processing module 410 may determine the dynamics target of the rope-driven elbow joint according to the dynamics target of the active part, the dynamics target of the rope variation, and the dynamics target of the driving part.

[0108] For example, in step S114, the processing module 410 may determine the dynamics target of the rope-driven elbow joint according to the following formula:

[0109]

[0110] in, is the moment of inertia of the contact point between the second disc structure and the first disc structure; is the Coriolis force term; is the gravity term; is the stiffness of the first rope, and is the stiffness of the second rope; is the control torque of the drive unit.

[0111] Optionally, in step S120, the processing module 410 may determine the angular displacement of the active part, the moment of inertia of the active part, the angular displacement of the driving part, the moment of inertia of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope according to the following formula:

[0112]

[0113] According to example embodiments, the moment of inertia of the moving portion includes the moment of inertia of a contact point between the second disk structure and the first disk structure, a Coriolis force term, and a gravity term.

[0114] Among them, in the dynamics target of the rope-driven elbow joint, the processing module 410 can determine the moment of inertia of the contact point between the second disc structure and the first disc structure according to the following formula:

[0115] ;

[0116] Among them, in the dynamics target of the rope-driven elbow joint, the processing module 410 can determine the Coriolis force term according to the following formula:

[0117] ;

[0118] Among them, in the dynamics target of the rope-driven elbow joint, the processing module 410 can determine the gravity term according to the following formula:

[0119] ;

[0120] The processing module 410 can As a state quantity, calculate The processing module 410 can and As state variables, calculate and The numerical value of .

[0121] in, for The first derivative of is the first value of the angular displacement of the driving part.

[0122] Alternatively, see Figure 4 , step S130 may include step S131.

[0123] In step S131 , the processing module 410 determines a desired trajectory of the movable part according to the maximum rotational movement range of the movable part and the maximum rotational movement speed of the movable part.

[0124] According to example embodiments, the maximum rotational movement range of the movable portion may be a maximum range of rotational movement angles of the movable portion. The maximum rotational movement speed of the movable portion may be a maximum angular velocity value of the rotational movement of the movable portion.

[0125] For example, in step S131, the processing module 410 may determine the expected trajectory of the moving part according to the following formula:

[0126] ;

[0127] in, The desired trajectory for the activity department; This is exercise time for the activity department.

[0128] The expected trajectory of the movable part in step S131, the maximum rotational motion range of the movable part is: , the maximum rotational motion range is close to the maximum motion boundary of the active part .

[0129] The maximum rotation speed of the active part is: , the maximum rotational speed of the movable part is faster.

[0130] Alternatively, see Figure 5 , step S140 may include steps S141 to S144.

[0131] In step S141 , the processing module 410 determines a first value of the expected trajectory of the moving part and a second value of the expected trajectory of the moving part according to the expected trajectory of the moving part.

[0132] According to an example embodiment, the first value of the expected trajectory data of the moving part may be a first-order derivative of an expression for the expected trajectory of the moving part.

[0133] For example, the processing module 410 may determine the first value of the expected trajectory of the moving part according to the expected trajectory of the moving part by using a differentiator or a resolver.

[0134] According to an example embodiment, the second value of the desired trajectory data of the moving portion may be a second-order derivative of the desired trajectory expression of the moving portion.

[0135] For example, the processing module 410 may determine the second value of the expected trajectory of the moving part according to the first value of the expected trajectory of the moving part by using a differentiator or a resolver.

[0136] In step S142 , the processing module 410 determines a first value of the angular displacement of the movable part and a moment of inertia of the movable part according to the angular displacement of the movable part.

[0137] The first value of the angular displacement of the driving part may be a first-order derivative of the angular displacement of the driving part. For example, the processing module 410 may determine the first value of the angular displacement of the driving part by a differentiator or a resolver.

[0138] According to example embodiments, the moment of inertia of the moving portion includes the moment of inertia of a contact point between the second disk structure and the first disk structure, a Coriolis force term, and a gravity term.

[0139] The calculation formulas for the moment of inertia, the Coriolis force term and the gravity term of the contact point between the second disk structure and the first disk structure have been described in step S121 and will not be repeated here.

[0140] In step S143 , the processing module 410 determines a tracking error of the movable part according to the angular displacement of the movable part and the expected trajectory of the movable part.

[0141] For example, in step S143, the processing module 410 may determine the tracking error of the moving part according to the following formula:

[0142] ;

[0143] in, is the tracking error of the active part.

[0144] In step S144, the processing module 410 determines the desired torque of the movable part according to the first value of the desired trajectory of the movable part, the second value of the desired trajectory of the movable part, the angular displacement of the movable part, the first value of the angular displacement of the movable part, the tracking error of the movable part and the moment of inertia of the movable part.

[0145] For example, in step S144, the processing module 410 may determine the desired torque of the movable part according to the following formula:

[0146] ;

[0147] in, is the desired moment of the active part; for and The middle value of ; is the first control law parameter; for The first derivative of ; is the reduction ratio coefficient, ; is the second control law parameter; for and The middle value of ; for The first derivative of ; is the sliding mode number of the active part, and ; for The first derivative of .

[0148] in, and It can be determined according to the inertia parameter of the driving part, the inertia parameter of the movable part and the control frequency of the control system of the robot.

[0149] Alternatively, see Figure 6 , step S150 may include step S151.

[0150] In step S151 , the processing module 410 determines a desired trajectory of the driving part according to a desired torque of the moving part, an angular displacement of the moving part, and a tracking error of the moving part.

[0151] For example, in step S151, the processing module 410 may determine the expected trajectory of the driving unit according to the following formula:

[0152] ;

[0153] in, is the desired trajectory of the drive unit.

[0154] In the formula, is the elastic compensation term of the first rope and the second rope. The larger the value, the smaller the elastic compensation term of the first rope and the second rope. Under the condition that the first rope and the second rope are completely rigid, , is the expression based on the kinematics of the driving part and the moving part, Items can be Provides additional corrections.

[0155] Alternatively, see Figure 7 , step S160 may include steps S161-S166.

[0156] In step S161 , the processing module 410 determines a first value of the expected trajectory of the driving unit and a second value of the expected trajectory of the driving unit according to the expected trajectory of the driving unit.

[0157] According to an example embodiment, the first value of the desired trajectory of the drive unit may be a first-order derivative of the desired trajectory expression of the drive unit. The second value of the desired trajectory of the drive unit may be a second-order derivative of the desired trajectory expression of the drive unit.

[0158] For example, in step S161 , the processing module 410 may determine a first value of the desired trajectory of the driving portion and a second value of the desired trajectory of the driving portion by a differentiator (eg, a third-order sliding mode differentiator) or a resolver.

[0159] For example, the processing module 410 may determine the first value of the desired trajectory of the driving portion and the second value of the desired trajectory of the driving portion using the following set of formulas of a third-order sliding mode differentiator:

[0160]

[0161] in, is the first preset parameter corresponding to the third-order sliding mode differentiator; A second preset parameter corresponding to the third-order sliding mode differentiator; is the third preset parameter corresponding to the third-order sliding mode differentiator; is the fourth preset parameter corresponding to the third-order sliding mode differentiator; A fifth preset parameter corresponding to the third-order sliding mode differentiator; is the first state quantity corresponding to the third-order sliding mode differentiator; is the second state quantity corresponding to the third-order sliding mode differentiator; is the third state quantity corresponding to the third-order sliding mode differentiator; is the fourth state quantity corresponding to the third-order sliding mode differentiator; The objective function corresponding to the third-order sliding mode differentiator; for The first derivative of ; for The first derivative of ; for The first derivative of ; for The first derivative of .

[0162] in, , , , , The values ​​of are all positive and can be set according to user needs. This application does not impose any restrictions.

[0163] The processing module 410 can Bring in the settings , thus according to , Sure or .

[0164] in, for The first derivative of is the first value of the desired trajectory of the driving unit; for The second-order derivative of is the second value of the desired trajectory of the driving unit.

[0165] For another example, the processing module 410 may calculate the first-order derivative and the second-order derivative of the calculation formula of the desired trajectory of the driving unit, and combine the calculation formula of the desired trajectory of the driving unit with the calculation formula of the dynamic target of the rope-driven elbow joint to determine or .

[0166] In step S162 , the processing module 410 determines a first value of the angular displacement of the driving unit according to the angular displacement of the driving unit.

[0167] According to an example embodiment, the first value of the angular displacement of the driving part may be a first-order derivative of the angular displacement of the driving part. For example, the processing module 410 may determine the first value of the angular displacement of the driving part according to the angular displacement of the driving part by a differentiator or a resolver.

[0168] The processing module 410 may also determine a second value of the angular displacement of the driving portion according to the first value of the angular displacement of the driving portion.

[0169] The second value of the angular displacement of the driving unit may be a second-order derivative of the angular displacement of the driving unit. For example, the processing module 410 may determine the second value of the angular displacement of the driving unit according to the first value of the angular displacement of the driving unit by a differentiator or a resolver.

[0170] In step S163 , the processing module 410 determines a tracking error of the driving unit according to the angular displacement of the driving unit and the expected trajectory of the driving unit.

[0171] For example, in step S163, the processing module 410 may determine the tracking error of the driving unit according to the following formula:

[0172] ;

[0173] in, is the tracking error of the active part.

[0174] In step S164, the processing module 410 determines a tracking error of the rope deformation amount of the first rope according to the rope deformation amount of the first rope, the tracking error of the movable part, and the tracking error of the driving part.

[0175] For example, in step S164, the processing module 410 may determine the rope deformation tracking error of the first rope according to the following formula:

[0176] ;

[0177] in, is the rope deformation tracking error of the first rope.

[0178] In step S165, the processing module 410 determines a tracking error of the rope deformation amount of the second rope according to the rope deformation amount of the second rope, the tracking error of the movable part, and the tracking error of the driving part.

[0179] The processing module 410 determines the rope deformation tracking error of the second rope of the rope-driven elbow joint as .

[0180] In step S166, the processing module 410 determines the control torque of the driving unit based on the angular displacement of the driving unit, the first value of the desired trajectory of the driving unit, the second value of the desired trajectory of the driving unit, the first value of the angular displacement of the driving unit, the tracking error of the driving unit, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

[0181] For example, in step S166, the processing module 410 may determine the control torque of the driving unit according to the following formula:

[0182] ;

[0183] in, for and The middle value of ; for The first derivative of is; is the third control law parameter; is the sliding mode number of the active part, and ; for The first derivative of .

[0184] in, It can be determined according to the inertia parameter of the driving part, the inertia parameter of the movable part and the control frequency of the control system of the robot.

[0185] According to an example embodiment, the processing module 410 may send a driving instruction to the driving unit, wherein the driving instruction includes control torque information of the driving unit. After receiving the driving instruction, the driving unit moves according to the control torque of the driving unit, so that the driving unit performs an angular displacement according to the control torque of the driving unit. The driving unit drives the movable part to move through the first rope and the second rope, so that the movable part performs an angular displacement according to the desired trajectory of the movable part.

[0186] For example, the parameter values ​​determined by the processing module 410 are shown in Table 1.

[0187] Table 1

[0188]

[0189] Figure 8 Angular displacement of the moving part determined for a fast control system Desired trajectory with the Activities Department Schematic diagram of . Fig. 9 It is a schematic diagram of the torque output by the driving unit according to the control torque of the driving unit.

[0190] See also Figure 8 , angular displacement of the active part Desired trajectory with the Activities Department Overlap within 0.5 seconds, so that the tracking error of the moving part gradually stabilizes to 0. Fig. 9 The output torque of the drive unit is within the range.

[0191] Through the above-mentioned embodiments, the fast control method provided by the present application can set the desired trajectory of the movable part to a fast, high-frequency desired trajectory. In addition, by introducing the compensation term of the rope elasticity into the control torque of the driving part, the angular displacement of the movable part and the desired trajectory of the driving part can be quickly overlapped, so that the fast control system can quickly track the motion trajectory data of the movable part, thereby improving the motion accuracy of the rope-driven elbow joint.

[0192] According to another aspect of the present application, the present application further provides a non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the rapid control method for elastic compensation of a rope-driven elbow joint as described above.

[0193] According to another aspect of the present application, the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the one or more processors are enabled to implement the rapid control method of rope-driven elbow joint elastic compensation as described above.

[0194] According to another aspect of the present application, the present application also provides a computer program product, including: a computer program stored on a computer-readable storage medium; the computer program includes program instructions, and when the program instructions are executed by the computer, the computer executes the rapid control method for rope-driven elbow joint elastic compensation as described above.

[0195] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A rapid control method for elastic compensation of a rope-driven elbow joint, characterized in that: The rope-driven elbow joint is connected to the driving part, and the rope-driven elbow joint includes a first rope, a second rope and a movable part, one end of the first rope is rotatably connected to one end of the driving part, the other end of the first rope is rotatably connected to one end of the movable part, one end of the second rope is rotatably connected to the other end of the driving part, and the other end of the second rope is rotatably connected to the other end of the movable part, and the rapid control method includes: Determining a dynamic target of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; Determining the dynamics target of the rope-driven elbow joint includes: in, is the angular displacement of the movable part, that is, the angular displacement of the second connecting rod; for The first derivative of is the first value of the angular displacement of the movable part; for The second derivative of is the second value of the angular displacement of the movable part; is the rope deformation of the first rope; is the radius of the reel of the driving unit; is the angular displacement of the driving portion; is the distance between the pulley in the first disc structure and the center of the first disc structure, and is the distance between the pulley in the second disc structure and the center of the second disc structure, that is, the distance between the pulley in the first disc structure and the center of the first disc structure is equal to the distance between the pulley in the second disc structure and the center of the second disc structure; is the number of turns of the first rope at the first disc structure and the second disc structure, and is the number of turns of the second rope at the first disc structure and the second disc structure, that is, the number of turns of the first rope at the first disc structure and the second disc structure is equal to the number of turns of the second rope at the first disc structure and the second disc structure; is the rotational inertia of the driving unit, that is, the rotational inertia of the driving motor and the reel; for The first derivative of is the first value of the angular displacement of the driving portion; for The second derivative of is the second value of the angular displacement of the driving portion; is the moment of inertia of the contact point between the second disc structure and the first disc structure; is the Coriolis force term; is the gravity term; is the stiffness of the first rope, and is the stiffness of the second rope; is the control torque of the driving unit; Determining the angular displacement of the movable part, the moment of inertia of the movable part, the angular displacement of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope according to the dynamics target of the rope-driven elbow joint; determining a desired trajectory of the active portion; determining a desired torque of the movable part according to a desired trajectory of the movable part, an angular displacement of the movable part, and a moment of inertia of the movable part; determining a desired trajectory of the driving portion according to the angular displacement of the movable portion, the desired trajectory of the movable portion, and the desired torque of the movable portion; The control torque of the driving part is determined according to the angular displacement of the movable part, the desired trajectory of the movable part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation amount of the first rope and the rope deformation amount of the second rope, so that the driving part is driven according to the control torque of the driving part, thereby causing the movable part to perform angular displacement according to the desired trajectory of the movable part.

2. The rapid control method according to claim 1, characterized in that: Determining the dynamics target of the rope-driven elbow joint according to the preset dynamic parameters of the rope-driven elbow joint includes: determining a dynamic target of a moving part of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; Determining a dynamic target of a rope variation of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; Determining a dynamics target of a driving part of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; The dynamics target of the rope-driven elbow joint is determined according to the dynamics target of the active part of the rope-driven elbow joint, the dynamics target of the rope variation of the rope-driven elbow joint and the dynamics target of the driving part of the rope-driven elbow joint.

3. The rapid control method according to claim 2, characterized in that: Determining the desired torque of the movable part according to the desired trajectory of the movable part and the angular displacement of the movable part comprises: determining a first value of the expected trajectory of the moving part and a second value of the expected trajectory of the moving part according to the expected trajectory of the moving part; determining a first value of the angular displacement of the movable part and a moment of inertia of the movable part according to the angular displacement of the movable part; determining a tracking error of the movable part according to the angular displacement of the movable part and the desired trajectory of the movable part; The desired torque of the movable part is determined according to the first value of the desired trajectory of the movable part, the second value of the desired trajectory of the movable part, the angular displacement of the movable part, the first value of the angular displacement of the movable part, the tracking error of the movable part and the moment of inertia of the movable part.

4. The rapid control method according to claim 3, characterized in that: Determining the desired trajectory of the driving part according to the angular displacement of the movable part, the desired trajectory of the movable part, and the desired torque of the movable part comprises: The desired trajectory of the driving part is determined according to the desired torque of the movable part, the angular displacement of the movable part, and the tracking error of the movable part.

5. The rapid control method according to claim 1, characterized in that: Determining the control torque of the driving part according to the angular displacement of the movable part, the desired trajectory of the movable part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope, so that the driving part is driven according to the control torque of the driving part, thereby causing the movable part to perform angular displacement according to the desired trajectory of the movable part, comprises: determining a first value of the expected trajectory of the driving unit and a second value of the expected trajectory of the driving unit according to the expected trajectory of the driving unit; determining a first value of the angular displacement of the driving portion according to the angular displacement of the driving portion; determining a tracking error of the driving unit according to an angular displacement of the driving unit and a desired trajectory of the driving unit; determining a tracking error of a rope deformation amount of the first rope according to a rope deformation amount of the first rope, a tracking error of the movable part, and a tracking error of the driving part; determining a tracking error of a rope deformation amount of the second rope according to a rope deformation amount of the second rope, a tracking error of the movable part, and a tracking error of the driving part; The control torque of the drive unit is determined based on the angular displacement of the drive unit, the first value of the desired trajectory of the drive unit, the second value of the desired trajectory of the drive unit, the first value of the angular displacement of the drive unit, the tracking error of the drive unit, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

6. A fast control system for elastic compensation of rope-driven elbow joints, characterized in that: The rope-driven elbow joint is connected to the driving part, and the rope-driven elbow joint includes a first rope, a second rope and a movable part. One end of the first rope is rotatably connected to one end of the driving part, and the other end of the first rope is rotatably connected to one end of the movable part. One end of the second rope is slidably connected to the other end of the driving part, and the other end of the second rope is slidably connected to the other end of the movable part. The rapid control system includes: A processing module, determining a dynamic target of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; The processing module determines the dynamic target of the rope-driven elbow joint including: in, is the angular displacement of the movable part, that is, the angular displacement of the second connecting rod; for The first derivative of is the first value of the angular displacement of the movable part; for The second derivative of is the second value of the angular displacement of the movable part; is the rope deformation of the first rope; is the radius of the reel of the driving unit; is the angular displacement of the driving portion; is the distance between the pulley in the first disc structure and the center of the first disc structure, and is the distance between the pulley in the second disc structure and the center of the second disc structure, that is, the distance between the pulley in the first disc structure and the center of the first disc structure is equal to the distance between the pulley in the second disc structure and the center of the second disc structure; is the number of turns of the first rope at the first disc structure and the second disc structure, and is the number of turns of the second rope at the first disc structure and the second disc structure, that is, the number of turns of the first rope at the first disc structure and the second disc structure is equal to the number of turns of the second rope at the first disc structure and the second disc structure; is the rotational inertia of the driving unit, that is, the rotational inertia of the driving motor and the reel; for The first derivative of is the first value of the angular displacement of the driving portion; for The second derivative of is the second value of the angular displacement of the driving portion; is the moment of inertia of the contact point between the second disc structure and the first disc structure; is the Coriolis force term; is the gravity term; is the stiffness of the first rope, and is the stiffness of the second rope; is the control torque of the driving unit; The processing module determines the angular displacement of the movable part, the angular displacement of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope according to the dynamic target of the rope-driven elbow joint; The processing module determines a desired trajectory of the movable portion; The processing module determines the desired torque of the movable part according to the desired trajectory of the movable part, the angular displacement of the movable part and the moment of inertia of the movable part; The processing module determines the desired trajectory of the driving part according to the angular displacement of the movable part, the desired trajectory of the movable part and the desired torque of the movable part; The processing module determines the control torque of the driving part according to the angular displacement of the movable part, the desired trajectory of the movable part, the angular displacement of the driving part, the desired trajectory of the driving part, the rope deformation amount of the first rope and the rope deformation amount of the second rope, so that the driving part is driven according to the control torque of the driving part, thereby causing the movable part to perform angular displacement according to the desired trajectory of the movable part.

7. The rapid control system according to claim 6, characterized in that: The processing module determines a dynamic target of a moving part of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; The processing module determines a dynamic target of a rope variation of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; The processing module determines a dynamic target of a driving part of the rope-driven elbow joint according to preset dynamic parameters of the rope-driven elbow joint; The processing module determines the dynamics target of the rope-driven elbow joint according to the dynamics target of the active part of the rope-driven elbow joint, the dynamics target of the rope variation of the rope-driven elbow joint, and the dynamics target of the driving part of the rope-driven elbow joint.

8. The rapid control system according to claim 7, characterized in that: The processing module determines a first value of the expected trajectory of the moving part and a second value of the expected trajectory of the moving part according to the expected trajectory of the moving part; The processing module determines a first value of the angular displacement of the movable part and a moment of inertia of the movable part according to the angular displacement of the movable part; The processing module determines a tracking error of the movable part according to the angular displacement of the movable part and the expected trajectory of the movable part; The processing module determines the desired torque of the movable part according to the first value of the desired trajectory of the movable part, the second value of the desired trajectory of the movable part, the angular displacement of the movable part, the first value of the angular displacement of the movable part, the tracking error of the movable part and the moment of inertia of the movable part.

9. The rapid control system according to claim 8, characterized in that: The processing module determines a desired trajectory of the driving part according to a desired torque of the movable part, an angular displacement of the movable part, and a tracking error of the movable part.

10. The rapid control system according to claim 9, characterized in that: The processing module determines a first value of the expected trajectory of the driving unit and a second value of the expected trajectory of the driving unit according to the expected trajectory of the driving unit; The processing module determines a first value of the angular displacement of the driving portion according to the angular displacement of the driving portion; The processing module determines the tracking error of the driving unit according to the angular displacement of the driving unit and the expected trajectory of the driving unit; The processing module determines a tracking error of the rope deformation amount of the first rope according to the rope deformation amount of the first rope, the tracking error of the movable part, and the tracking error of the driving part; The processing module determines a tracking error of the rope deformation amount of the second rope according to the rope deformation amount of the second rope, the tracking error of the movable part, and the tracking error of the driving part; The processing module determines the control torque of the driving unit based on the angular displacement of the driving unit, the first value of the desired trajectory of the driving unit, the second value of the desired trajectory of the driving unit, the first value of the angular displacement of the driving unit, the tracking error of the driving unit, the rope deformation of the first rope, the tracking error of the rope deformation of the first rope, the rope deformation of the second rope, and the tracking error of the rope deformation of the second rope.

11. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fast control method for elastic compensation of a rope-driven elbow joint as described in any one of claims 1 to 5 is implemented.

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