Rope-driven joint self-adaptive anti-loosening control method and system and storage medium

Abstract

The invention discloses a self-adaptive anti-loosening control method and system for a rope-driven joint and a storage medium, and relates to the technical field of rope-driven joint control. The control method comprises the steps that the dynamic target of the rope-driven joint and the safety torque of the movable part are determined; determining the angular displacement of the movable part, the rotational inertia of the movable part, the angular displacement of the driving part, the rope deformation quantity of the first rope and the rope deformation quantity of the second rope; determining an expected track of the movable part; determining an expected moment of force of the movable part; determining an expected track of the driving part according to the angular displacement of the movable part and the expected torque of the movable part; and the control torque of the driving part is determined according to the angular displacement of the movable part, the angular displacement of the driving part, the expected track of the driving part, the rope deformation quantity of the first rope and the rope deformation quantity of the second rope. According to the control method, the problem of looseness of the first rope and the second rope can be avoided in the movement process of the driving part and the rope-driven joint.

Description

Technical Field

[0001] The present application relates to the technical field of rope-driven joint control, and in particular to a rope-driven joint adaptive anti-relaxation control method, system and storage medium. Background Art

[0002] At present, the robot arm structure of an industrial robot can realize the control of the joints of the industrial robot through an anthropomorphic rope-driven joint mechanism. The anthropomorphic rope-driven joint structure can remotely drive the joint rotation through a rope, the transmission component and the drive end are integrated in the drive box of the robot arm base, and the execution end can be set in the robot arm structure. Separating the transmission component, the drive end and the execution end can reduce the mass and inertia of the robot arm structure body.

[0003] However, the inventors of the present application have discovered that the current driving mode for rope-driven manipulators or rope-driven joint mechanisms is usually an antagonistic driving mode, that is, the driving end is connected to the execution end through two ropes, and the positive and negative directions of the execution end are respectively driven by two different rope tensions. During the movement of the execution end, the execution end will be pulled by a rope and move. Due to the existence of the preload, the other rope provides a reverse traction force. (That is, the other rope produces an antagonistic effect). This may cause the rope to deform due to tension when the execution end moves in one direction. The deformation of the rope may cause the other rope (that is, the antagonistic rope) to loosen. The loose rope reduces the movement accuracy of the execution end of the rope-driven joint mechanism.

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

[0005] The present application aims to provide a control method, system and storage medium for adaptive anti-relaxation of a rope-driven joint, so as to solve the problem of rope loosening during the movement of a rope-driven joint mechanism.

[0006] According to one aspect of the present application, the present application provides a control method for adaptively preventing relaxation of a rope-driven joint. The rope-driven joint is connected to the driving part, and the rope-driven 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 fixedly 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 fixedly connected to the other end of the movable part. The control method includes: determining the dynamic target of the rope-driven joint and the safety torque of the movable part according to the preset dynamic parameters of the rope-driven 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 rope deformation of the second rope according to the dynamic target of the rope-driven joint; 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 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 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 movable part performs 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 the rope-driven joint and the safety torque of the active part according to the preset dynamic parameters of the rope-driven joint includes: determining the dynamic target of the active part of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; determining the dynamic target of the rope change amount of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; determining the dynamic target of the driving part of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; determining the dynamic target of the rope-driven joint according to the dynamic target of the active part of the rope-driven joint, the dynamic target of the rope change amount of the rope-driven joint and the dynamic target of the driving part of the rope-driven joint; determining the safety torque of the active part according to the preset dynamic parameters of the rope-driven joint.

[0008] According to some embodiments of the present application, determining the expected torque of the moving part according to the expected trajectory of the moving part, the angular displacement of the moving part, and the moment of inertia 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 the 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 the 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 rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameters of the rope-driven joint according to the dynamics target of the rope-driven joint and the moment of inertia of the moving part; determining the rigid body dynamics parameter estimation value of the rope-driven joint according to the rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameters of the rope-driven joint; determining the expected torque of the moving part according to the tracking error of the moving part, the rigid body dynamics parameter linearization matrix of the rope-driven joint, and the rigid body dynamics parameter estimation value of the rope-driven joint.

[0009] According to some embodiments of the present application, determining the expected trajectory of the driving part based on the angular displacement of the moving part and the expected torque of the moving part includes: determining the expected torque saturation target of the moving part based on the expected torque of the moving part; determining the expected trajectory of the driving part based on the angular displacement of the moving part and the expected torque saturation target of the moving part.

[0010] According to some embodiments of the present application, the control torque of the driving unit is determined according to the angular displacement 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 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 a tracking error of the driving unit according to the angular displacement of the driving unit and the desired trajectory of the driving unit; determining the rope deformation amount of the first rope and the rope deformation amount of the second rope according to the angular displacement of the movable unit and the angular displacement of the driving unit; determining the control torque of the driving unit according to the tracking error of the driving unit, the rope deformation amount of the first rope and the rope deformation amount of the second rope.

[0011] According to one aspect of the present application, the present application provides a control system for adaptive anti-slackness of a rope-driven joint, wherein the rope-driven joint is connected to a driving part, and the rope-driven 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 fixedly 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 fixedly connected to the other end of the movable part, and the control system includes a processing module. The processing module determines the dynamic target of the rope-driven joint and the safety torque of the active part according to the preset dynamic parameters of the rope-driven 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 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 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 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.

[0012] According to some embodiments of the present application, the processing module determines the dynamic target of the active part of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; the processing module determines the dynamic target of the rope change amount of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; the processing module determines the dynamic target of the driving part of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint; the processing module determines the dynamic target of the rope-driven joint according to the dynamic target of the active part of the rope-driven joint, the dynamic target of the rope change amount of the rope-driven joint and the dynamic target of the driving part of the rope-driven joint; the processing module determines the safety torque of the active part according to the preset dynamic parameters of the rope-driven 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 a rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameters of the rope-driven joint according to the dynamics target of the rope-driven joint and the moment of inertia of the moving part; the processing module determines an estimated value of the rigid body dynamics parameters of the rope-driven joint according to the rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameters of the rope-driven joint; the processing module determines an expected torque of the moving part according to the tracking error of the moving part, the rigid body dynamics parameter linearization matrix of the rope-driven joint and the estimated value of the rigid body dynamics parameters of the rope-driven joint.

[0014] According to some embodiments of the present application, the processing module determines an expected torque saturation target of the movable part according to the expected torque of the movable part; the processing module determines an expected trajectory of the driving part according to the angular displacement of the movable part and the expected torque saturation target of the movable part.

[0015] According to some embodiments of the present application, the processing module determines a first value of an expected trajectory of the driving unit and a second value of the expected trajectory of the driving unit based on the expected trajectory of the driving unit; the processing module determines a tracking error of the driving unit based on the angular displacement of the driving unit and the expected trajectory of the driving unit; the processing module determines a rope deformation amount of the first rope and a rope deformation amount of the second rope based on the angular displacement of the movable unit and the angular displacement of the driving unit; the processing module determines a control torque of the driving unit based on the tracking error of the driving unit, the rope deformation amount of the first rope and the rope deformation amount 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 control method for adaptive anti-relaxation of a rope-driven joint as described above.

[0017] According to another aspect of the present application, the present application also provides an electronic device, including: 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 can implement the rope-driven joint adaptive anti-relaxation control method 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 rope-driven joint adaptive anti-relaxation control method as described above.

[0019] Beneficial Effects The control method provided by the present application can determine the dynamic target of the rope-driven joint and the safety torque of the active part through the preset dynamic parameters of the rope-driven joint. The present application 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 amount of the first rope, and the rope deformation amount of the second rope through the dynamic target of the rope-driven 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 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.

[0020] The control method provided by the present application can introduce the safety torque of the movable part into the expected trajectory of the movable part, so that during the movement of the driving part and the rope-driven joint, the rope deformation of the first rope and the rope deformation of the second rope do not exceed the safety torque of the movable part. Therefore, during the movement of the driving part and the rope-driven joint, the tension of the first rope and the tension of the second rope are not 0, thereby avoiding the problem of the first rope and the second rope being loose. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 A schematic flow chart of a method 1000 for controlling a rope-driven joint adaptively preventing relaxation according to an embodiment of the present application is shown; Figure 2 A schematic structural diagram of a rope-driven joint according to an embodiment of the present application is shown; Figure 3 A schematic diagram showing the process of step S110 according to an embodiment of the present application is shown; Figure 4 A schematic diagram showing the process of step S130 according to an embodiment of the present application is shown; Figure 5 A schematic diagram showing the process of step S140 according to an embodiment of the present application is shown; Figure 6 A schematic diagram showing the process of step S150 according to an embodiment of the present application is shown; Figure 7A schematic diagram showing the process of step S160 according to an embodiment of the present application is shown; Figure 8 A schematic diagram showing the angular displacement of the movable part and the desired trajectory of the driving part determined by the control system according to an embodiment of the present application; Fig. 9 A schematic diagram showing a control torque of a driving unit determined by a control system according to an embodiment of the present application; Fig.10 A schematic diagram showing a tension value of a first rope and a tension value of a second rope determined by a control system according to an embodiment of the present application; Fig.11 A schematic structural diagram of a control system for adaptive anti-relaxation of a rope-driven joint according to an embodiment of the present application is shown; Fig.12 Another structural schematic diagram of a control system for adaptive anti-relaxation of a rope-driven joint according to an embodiment of the present application is shown.

[0023] Reference numerals: Rope-driven joint 200 ; driving unit 300 .

[0024] The movable part 210 ; the first rope 220 ; and the second rope 230 .

[0025] Fixed disc structure 211; movable connecting rod 212.

[0026] The first disc structure 2121 .

[0027] Control system 400.

[0028] Processing module 410; Collection module 420. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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 that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0032] 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.

[0033] 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.

[0034] like Fig.11 As shown, the present application provides a control system 400 for adaptive anti-relaxation of a rope-driven joint. The control system 400 may include a processing module 410. Fig.12 As shown, the control system 400 may include a processing module 410 and a collection module 420. The control system 400 may control the rope-driven joint according to the rope-driven joint adaptive anti-slack control method.

[0035] Combine the following Fig.11 and Fig.12 To describe the rope-driven joint adaptive anti-relaxation control method provided in the present application.

[0036] See also Figure 1 , the control method 1000 may include steps S110 to S160.

[0037] See also Figure 2 The rope-driven joint 200 is connected to the driving part 300, and the rope-driven 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 fixedly 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 fixedly connected to the other end of the movable part 210.

[0038] 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 disc structure 211 and a movable connecting rod 212. One end of the movable connecting rod 212 is a first disc structure 2121. The fixed disc structure 211 is tangentially arranged with the first disc structure 2121. The first disc structure 2121 performs a rotational motion along the circumference of the fixed disc structure 211.

[0039] 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 is fixedly connected to one end of the movable part 210. For example, the other end of the first rope 220 may be fixed to the circumference of one end of the first disc structure 2121. When the drum drives the first rope 220 to rotate, the first rope 220 drives the first disc structure 2121 to perform positive rotational motion along the circumference of the fixed disc structure 211.

[0040] 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 is fixedly connected to the other end of the movable part 210. For example, the other end of the second rope 230 may be fixed to the other end of the circumference of the first disc structure 2121. When the drum drives the second rope 230 to rotate, the second rope 230 drives the first disc structure 2121 to rotate in the opposite direction along the circumference of the fixed disc structure 211.

[0041] According to an example embodiment, the rope drive joint 200 may be a rope drive arm elbow joint or a rope drive arm knee joint, or the like.

[0042] In step S110 , the processing module 410 determines the dynamic target of the rope-driven joint and the safety torque of the movable part according to the preset dynamic parameters of the rope-driven joint.

[0043] According to an example embodiment, the preset power parameters of the rope-driven joint may be parameters of the motion state of the rope-driven joint.

[0044] For example, the preset dynamic parameters of the rope-driven joint may include the stiffness of the first rope, the stiffness of the second rope, the radius of the first 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 first disc structure, the moment of inertia of the driving part (i.e., the moment of inertia of the driving motor and the drum), the drum radius of the driving part (driving motor), the angular displacement of the moving part, the tracking error of the moving part, the moment of inertia of the moving part, the angular displacement of the driving part, the tracking error of the driving part, the torque exerted on the moving part, the expected trajectory of the moving part, the expected torque of the moving part, the safety torque of the moving part, the expected trajectory of the driving part, the control torque of the driving part, the rope deformation of the first rope, the rope deformation of the second rope, the preload deformation of the first rope, the preload deformation of the second rope, the tension of the first rope and the tension of the second rope.

[0045] The preset power parameters of the rope-driven joint may include preset power constant parameters and preset power variable parameters.

[0046] 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 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 first 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).

[0047] 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 torque exerted on the movable part, the desired trajectory of the movable part, the desired torque of the movable part, the safety torque of the movable part, the desired trajectory of the driving part, the control torque of the driving part, the rope deformation of the first rope, the rope deformation of the second rope, the pre-tension deformation of the first rope, the pre-tension deformation of the second rope, the tension of the first rope and the tension of the second rope.

[0048] According to an example embodiment, the dynamics target of the rope-driven joint may be an objective function that is determined according to the preset dynamic parameters of the rope-driven joint and describes the relationship between the preset dynamic parameters of the rope-driven joint.

[0049] For example, in step S110, the processing module 410 may determine the dynamics target of the rope-driven joint and the safety torque of the movable part according to the connection relationship of the rope-driven joint and the preset dynamic parameters of the rope-driven joint.

[0050] 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 of the first rope, and the rope deformation of the second rope according to the dynamic target of the rope-driven joint.

[0051] 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.

[0052] 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.

[0053] According to the exemplary embodiment, the processing module 410 can solve the dynamic target of the rope-driven joint according to the value of the preset dynamic constant parameter, the initial value of the angular displacement of the movable part, the initial value of the first value of the angular displacement of the movable 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 movable part, the moment of inertia of the movable part, the angular displacement of the driving part, the moment of inertia of the driving part, the rope deformation of the first rope, and the rope deformation of the second rope.

[0054] Alternatively, the acquisition module 420 may be a sensor, the sensor being electrically connected to the movable part, and the sensor being electrically connected to the driving part. The sensor electrically connected to the movable part may 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 may 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.

[0055] In step S130 , the processing module 410 determines a desired trajectory of the moving part.

[0056] 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 the first preset trajectory condition and the first preset torque condition.

[0057] 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.

[0058] The first preset torque condition may be that the maximum expected driving torque of the movable part is smaller than the safety torque of the movable part.

[0059] For example, the processing module 410 may determine the desired trajectory of the moving part as a quintic polynomial or a sine function.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] In step S150 , the processing module 410 determines a desired trajectory of the driving part according to the angular displacement of the movable part and the desired torque of the movable part.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] For example, the processing module 410 may determine the control torque of the driving part according to the angular displacement of the movable part, the desired trajectory of the driving part, the tracking error of the driving part, the rope deformation amount of the first rope, and the rope deformation amount of the second rope.

[0073] 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.

[0074] Through the above-mentioned embodiments, the control method 1000 provided in the present application can determine the dynamic target of the rope-driven joint and the safety torque of the active part through the preset dynamic parameters of the rope-driven 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 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 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.

[0075] The control method 1000 provided in the present application can introduce the safety torque of the movable part into the expected trajectory of the movable part, so that during the movement of the driving part and the rope-driven joint, the rope deformation of the first rope and the rope deformation of the second rope do not exceed the safety torque of the movable part. Therefore, during the movement of the driving part and the rope-driven joint, the tension of the first rope and the tension of the second rope are not 0, thereby avoiding the problem of the first rope and the second rope being loose.

[0076] Alternatively, see Figure 3 , step S110 may include steps S111 to S115.

[0077] In step S111 , the processing module 410 determines a dynamic target of the active part of the rope-driven joint according to preset dynamic parameters of the rope-driven joint.

[0078] According to an example embodiment, the dynamics target of the moving part may be a dynamics target function of a rigid body of the moving part of the rope-driven joint. For example, the dynamics target of the moving part may be a dynamics target function of a moving link in the moving part.

[0079] According to an example embodiment, the processing module 410 may determine the dynamics target of the active part of the rope-driven joint according to the dynamics relationship between the fixed disk structure and the active link in the active part of the rope-driven joint.

[0080] For example, in step S111, the processing module 410 may determine the dynamics target of the active part of the rope-driven joint according to the following formula: ; 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 first disk structure (e.g. Figure 2 shown); is the distance between the center of mass of the movable link and the center of the first 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 torque acting on the moving part.

[0081] In step S112, the processing module 410 determines a dynamic target of a rope variation of the rope-driven joint according to preset dynamic parameters of the rope-driven joint.

[0082] 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.

[0083] For example, in step S112, the processing module 410 may determine the first rope variation dynamics target of the rope-driven joint according to the following formula: ; in, is the rope deformation of the first rope; is the reel radius of the drive unit (drive motor) (e.g. Figure 2 shown); is the angular displacement of the drive unit (e.g. Figure 2 as shown).

[0084] In step S113 , the processing module 410 determines the driving part dynamics target of the rope-driven joint according to the preset dynamic parameters of the rope-driven joint.

[0085] 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.

[0086] For example, in step S113, the processing module 410 may determine the driving unit dynamics target according to the following formula: ; in, is the moment of inertia of the driving unit, that is, the moment of inertia of the driving motor and the reel; for The second derivative of is the second value of the angular displacement of the driving part; is the control torque of the drive unit.

[0087] 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.

[0088] In step S114, the processing module 410 determines the dynamics target of the rope-driven joint according to the dynamics target of the active part of the rope-driven joint, the dynamics target of the rope variation of the rope-driven joint, and the dynamics target of the driving part of the rope-driven joint.

[0089] According to an example embodiment, the processing module 410 may determine the dynamics target of the rope-driven joint according to the dynamics target of the movable part, the dynamics target of the rope variation, and the dynamics target of the driving part.

[0090] For example, in step S114, the processing module 410 may determine the dynamics target of the rope-driven joint according to the following formula:

[0091] in, is the moment of inertia of the contact point between the fixed 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 tension of the first rope; is the tension of the second rope; is the tension value of the first rope; The tension value of the second rope.

[0092] The processing module 410 can determine the as well as :

[0093] in, are the preload deformation of the first rope and the preload deformation of the second rope.

[0094] In step S115 , the processing module 410 determines the safety torque of the movable part according to the preset power parameters of the rope-driven joint.

[0095] According to an example embodiment, the safety torque of the movable part is a maximum driving torque value of the movable part.

[0096] For example, in step S115, the processing module 410 may determine the safety torque of the movable part according to the following formula: ; in, is the safety torque of the moving part.

[0097] Optionally, in step S120, the processing module 410 may determine 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 following formula:

[0098] According to example embodiments, the moment of inertia of the movable portion includes the moment of inertia of a contact point between the fixed disk structure and the first disk structure, a Coriolis force term, and a gravity term.

[0099] Among them, in the dynamics target of the rope-driven joint, the processing module 410 can determine the moment of inertia of the contact point between the fixed disk structure and the first disk structure according to the following formula: ; Among them, in the dynamic target of the rope-driven joint, the processing module 410 can determine the Coriolis force term according to the following formula: ; Among them, in the dynamics target of the rope-driven joint, the processing module 410 can determine the gravity term according to the following formula: ; 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 .

[0100] in, for The first derivative of is the first value of the angular displacement of the driving part.

[0101] Alternatively, see Figure 4 , step S130 may include step S131.

[0102] 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.

[0103] 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.

[0104] For example, in step S131, the processing module 410 may determine the expected trajectory of the moving part according to the following formula: ; in, The desired trajectory for the activity department; This is exercise time for the activity department.

[0105] In step S131, the processing module 410 may determine the first preset torque condition according to the following formula: ; in, is the first-order derivative of the desired trajectory of the moving part, that is, the first value of the desired trajectory of the moving part; is the second-order derivative of the desired trajectory of the moving part, that is, the second value of the desired trajectory of the moving part; is the nominal moment of inertia of the contact point between the fixed disk structure and the first disk structure (i.e. value); is the nominal Coriolis force term (i.e. nominal value); is the nominal gravity term (i.e. nominal value); is the safety factor, and .

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] Among them, in the dynamics target of the rope-driven joint, the processing module 410 can determine the moment of inertia of the contact point between the nominal fixed disk structure and the first disk structure according to the following formula: ; Among them, in the dynamic target of the rope-driven joint, the processing module 410 can determine the nominal Coriolis force term according to the following formula: ; Among them, in the dynamic target of the rope-driven joint, the processing module 410 can determine the nominal gravity term according to the following formula: ; in, is the nominal mass of the active link (i.e. nominal value); is the distance between the nominal center of mass of the movable link and the center of the first disk structure (i.e. nominal value); For nominal (i.e. The nominal value of the movable link) is the moment of inertia of the movable link about the center of mass of the movable link.

[0111] Alternatively, see Figure 5 , step S140 may include steps S141 to S146.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] According to example embodiments, the moment of inertia of the movable portion includes the moment of inertia of a contact point between the fixed disk structure and the first disk structure, a Coriolis force term, and a gravity term.

[0120] The calculation formulas for the moment of inertia, the Coriolis force term and the gravity term of the contact point between the fixed disk structure and the first disk structure have been described in step S121 and will not be repeated here.

[0121] 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.

[0122] For example, in step S143, the processing module 410 may determine the tracking error of the moving part according to the following formula: ; in, is the tracking error of the active part.

[0123] In step S144 , the processing module 410 determines a rigid body dynamics parameter linearization matrix of the rope-driven joint and rigid body dynamics parameters of the rope-driven joint according to the dynamics target of the rope-driven joint and the moment of inertia of the movable part.

[0124] According to an example embodiment, the rigid body dynamics parameter linearization matrix of the rope-driven joint is a matrix of a linearized expression of the dynamics target of the rope-driven joint.

[0125] The rigid body dynamics parameters of the rope-driven joint are the parameters of the linearized expression of the dynamics target of the rope-driven joint.

[0126] In step S144, the processing module 410 may perform linearization processing on the dynamics target of the rope-driven joint to obtain the following formula: ; The processing module 410 can determine the linearization matrix of the rigid body dynamics parameters of the rope-driven joint according to the following formula: ; in, is the linearization matrix of the rigid body dynamic parameters of the rope-driven joint.

[0127] The processing module 410 can determine the rigid body dynamics parameters of the rope-driven joint according to the following formula: ; in, are the rigid body dynamic parameters of the rope-driven joint.

[0128] In step S145 , the processing module 410 determines the estimated values ​​of the rigid body dynamics parameters of the rope-driven joint according to the rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameters of the rope-driven joint.

[0129] According to an example embodiment, the estimated values ​​of the rigid body dynamics parameters of the rope-driven joint may be estimated values ​​of parameters of a linearized expression of the dynamics target of the rope-driven joint.

[0130] For example, in step S145, the processing module 410 may determine the estimated value of the rigid body dynamics parameter of the rope-driven joint according to the following formula: ; in, is the estimated value of the rigid body dynamic parameters of the rope-driven joint; is the first intermediate quantity; is the second intermediate quantity; Design parameters for the first update law; is the second update law parameter.

[0131] and are all positive values, and and It can be set according to the preset control frequency, the receiving noise of the sensor and the preset power parameters of the rope-driven joint.

[0132] The processing module 410 can determine the :

[0133] in, for The first derivative of ; The first n time; for The expected torque of the moving part at a known moment; It is the first intermediate function of the desired torque of the moving part.

[0134] in, The initial value of can be set to 0, that is, the processing module 410 can preset .

[0135] in, for The initial value of .

[0136] The processing module 410 can determine the : ; in, is the saturation function of the desired torque of the active part.

[0137] The processing module 410 can determine the :

[0138] in, is the saturation value of the saturation function of the expected trajectory of the active part.

[0139] The processing module 410 can determine the :

[0140] in, is the second intermediate function. The processing module 410 can determine according to the following formula :

[0141] Among them, the processing module 410 can take ,in, is the initial value of the estimated rigid body dynamics parameters of the rope-driven joint; For Nominal value; for The nominal value of for The nominal value.

[0142] In step S146 , the processing module 410 determines the expected torque of the movable part according to the tracking error of the movable part, the rigid body dynamics parameter linearization matrix of the rope-driven joint, and the rigid body dynamics parameter estimation value of the rope-driven joint.

[0143] For example, in step S146, the processing module 410 can determine Expected moment of the active part at any time: ; in, for The linearization matrix of the rigid body dynamic parameters of the rope-driven joint under is the first control parameter of the active part; It is the second control parameter of the active part. and are all positive values, and and It can be set according to the preset control frequency, the receiving noise of the sensor and the preset dynamic parameters of the rope-driven joint. The time it takes for the tracking error of the moving part to converge can be reduced.

[0144] The processing module 410 can determine the : .

[0145] Alternatively, see Figure 6 , step S150 may include step S151-step S152.

[0146] In step S151 , the processing module 410 determines a desired torque saturation target of the movable part according to the desired torque of the movable part.

[0147] According to example embodiments, the desired torque saturation target of the moving part may be a saturation function of the desired torque of the moving part.

[0148] The calculation formula of the saturation function of the desired torque of the movable part has been described in step S145 and will not be repeated here.

[0149] In step S152 , the processing module 410 determines a desired trajectory of the driving part according to the angular displacement of the movable part and a desired torque saturation target of the movable part.

[0150] For example, in step S152, the processing module 410 may determine the expected trajectory of the driving unit according to the following formula: ; in, is the desired trajectory of the drive unit.

[0151] Alternatively, see Figure 7 , step S160 may include steps S161-S164.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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:

[0156] 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 .

[0157] in, , , , , The values ​​of are all positive and can be set according to user needs. This application does not impose any restrictions.

[0158] The processing module 410 can or Bring in the settings , thus according to , Sure , or , .

[0159] That 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.

[0160] For another example, the processing module 410 may determine the first value of the desired trajectory of the driving unit according to the following formula: ; For another example, the processing module 410 may determine the second value of the desired trajectory of the driving unit according to the following formula: ; In step S162 , 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.

[0161] For example, in step S162, the processing module 410 may determine the tracking error of the driving unit according to the following formula: ; in, is the tracking error of the active part.

[0162] In step S163, the processing module 410 determines the rope deformation amount of the first rope and the rope deformation amount of the second rope according to the angular displacement of the movable part and the angular displacement of the driving part.

[0163] For example, in step S163, the processing module 410 may determine the rope deformation amount of the first rope according to the following formula: ; in, is the rope deformation of the first rope; the processing module 410 determines the rope deformation of the second rope as .

[0164] In step S164, the processing module 410 determines the control torque of the driving unit according to the tracking error of the driving unit, the rope deformation amount of the first rope, and the rope deformation amount of the second rope.

[0165] For example, in step S164, the processing module 410 may determine the control torque of the driving unit according to the following formula: ; in, is the first control parameter of the driving unit; It is the second control parameter of the driving unit. and It can be determined based on the design principle of the three-loop control law of the drive unit (drive motor). and It can be set according to user needs and is not limited in this application.

[0166] 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.

[0167] For example, the parameter values ​​determined by the processing module 410 are shown in Table 1.

[0168] Table 1

[0169] Figure 8 The angular displacement of the moving part determined by the control system Desired trajectory with the Activities Department Schematic diagram of . Fig. 9 is the moment of the active part Schematic diagram of . Fig.10 is the tension value of the first rope The tension value of the second rope Schematic diagram of .

[0170] See also Figure 8 , angular displacement of the active part Desired trajectory with the Activities Department The overlap at 1.3 seconds causes the tracking error of the active part to gradually stabilize to 0. Fig. 9 , the moment of the active part Safety torque stabilized at the moving part See Fig.10 , the tension of the first rope The tension of the second rope Both are greater than 0, and during the movement of the driving part and the rope-driven joint, there is no loosening problem between the first rope and the second rope.

[0171] Through the above embodiments, the control method 1000 provided by the present application can introduce the safety torque of the movable part into the desired trajectory of the movable part, so as to adaptively realize the tracking of the smooth desired trajectory by the rope-driven joint when the dynamic parameters of the rope-driven joint are unknown, while keeping the rope tight. The present application can avoid complex elastic prediction compensation when the rope is loose.

[0172] 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 control method for adaptive anti-relaxation of a rope-driven joint as described above.

[0173] According to another aspect of the present application, the present application also provides an electronic device, including: 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 can implement the rope-driven joint adaptive anti-relaxation control method as described above.

[0174] 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 rope-driven joint adaptive anti-relaxation control method as described above.

[0175] 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 control method for adaptively preventing relaxation of a rope-driven joint, characterized in that: The rope-driven joint is connected to the driving part, and the rope-driven 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 fixedly 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 fixedly connected to the other end of the movable part, and the control method includes: Determining the dynamic target of the rope-driven joint and the safety torque of the movable part according to the preset dynamic parameters of the rope-driven 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 amount of the first rope, and the rope deformation amount of the second rope according to the dynamic target of the rope-driven 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 and a 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 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 control method according to claim 1, characterized in that: The step of determining the dynamic target of the rope-driven joint and the safety torque of the movable part according to the preset dynamic parameters of the rope-driven joint comprises: Determining a dynamic target of a moving part of the rope-driven joint according to preset dynamic parameters of the rope-driven joint; Determining a dynamic target of a rope variation of the rope-driven joint according to preset dynamic parameters of the rope-driven joint; Determining a dynamics target of a driving part of the rope-driven joint according to preset dynamic parameters of the rope-driven joint; Determining a dynamic target of the rope-driven joint according to a dynamic target of the active part of the rope-driven joint, a dynamic target of the rope variation of the rope-driven joint, and a dynamic target of the driving part of the rope-driven joint; The safety torque of the movable part is determined according to the preset power parameters of the rope-driven joint.

3. The 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, the angular displacement of the movable part, and the moment of inertia 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; Determining a rigid body dynamics parameter linearization matrix of the rope-driven joint and rigid body dynamics parameters of the rope-driven joint according to the dynamics target of the rope-driven joint and the moment of inertia of the movable part; Determining an estimated value of the rigid body dynamics parameter of the rope-driven joint according to a rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameter of the rope-driven joint; The desired torque of the movable part is determined according to the tracking error of the movable part, the rigid body dynamic parameter linearization matrix of the rope-driven joint and the rigid body dynamic parameter estimation value of the rope-driven joint.

4. The control method according to claim 3, characterized in that: Determining the expected trajectory of the driving part according to the angular displacement of the movable part and the expected torque of the movable part comprises: Determining an expected torque saturation target of the movable part according to the expected torque of the movable part; The desired trajectory of the driving part is determined according to the angular displacement of the movable part and the desired torque saturation target of the movable part.

5. The control method according to claim 4, characterized in that: The determining the control torque of the driving part according to the angular displacement 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 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 rope deformation amount of the first rope and a rope deformation amount of the second rope according to an angular displacement of the movable part and an angular displacement of the driving part; A control torque of the driving portion is determined according to a tracking error of the driving portion, a rope deformation amount of the first rope, and a rope deformation amount of the second rope.

6. A control system for adaptive anti-relaxation of a rope-driven joint, characterized in that: The rope-driven joint is connected to the driving part, and the rope-driven 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 fixedly 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 fixedly connected to the other end of the movable part, and the control system includes: A processing module, which determines a dynamic target of the rope-driven joint and a safety torque of the movable part according to preset dynamic parameters of the rope-driven joint; The processing module 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 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 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 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 control system according to claim 6, characterized in that: The processing module determines a dynamic target of a moving part of the rope-driven joint according to preset dynamic parameters of the rope-driven joint; The processing module determines a dynamic target of a rope variation of the rope-driven joint according to a preset dynamic parameter of the rope-driven joint; The processing module determines a dynamic target of a driving part of the rope-driven joint according to preset dynamic parameters of the rope-driven joint; The processing module determines the dynamics target of the rope-driven joint according to the dynamics target of the active part of the rope-driven joint, the dynamics target of the rope variation of the rope-driven joint and the dynamics target of the driving part of the rope-driven joint; The processing module determines the safety torque of the movable part according to the preset power parameters of the rope-driven joint.

8. The 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 a rigid body dynamics parameter linearization matrix of the rope-driven joint and rigid body dynamics parameters of the rope-driven joint according to the dynamics target of the rope-driven joint and the moment of inertia of the movable part; The processing module determines an estimated value of the rigid body dynamics parameter of the rope-driven joint according to a rigid body dynamics parameter linearization matrix of the rope-driven joint and the rigid body dynamics parameter of the rope-driven joint; The processing module determines the expected torque of the movable part according to the tracking error of the movable part, the rigid body dynamic parameter linearization matrix of the rope-driven joint, and the rigid body dynamic parameter estimation value of the rope-driven joint.

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

10. The 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 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 the rope deformation amount of the first rope and the rope deformation amount of the second rope according to the angular displacement of the movable part and the angular displacement of the driving part; The processing module determines a control torque of the driving portion according to a tracking error of the driving portion, a rope deformation amount of the first rope, and a rope deformation amount 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 control method for adaptive anti-relaxation of a rope-driven joint as described in any one of claims 1 to 5 is implemented.

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