Force feedback control method for flexible docking target of double-arm robot

Abstract

The invention discloses a force feedback control method for a flexible docking target of a double-arm robot, relates to the technical field of robot control, and aims at overcoming the defects in the prior art and realizing force feedback control for the flexible docking target of the double-arm robot based on an artificial bee colony optimization impedance control method under sliding mode control. According to the method, the control requirement for quick response of a flexible docking target carrier and the high-precision contact impulse needed by docking operation are considered, the problem that a control model is difficult to establish due to dynamic change of the flexible docking target can be solved, the solving result can be more optimized, and therefore a globally optimal solution in the application significance can be accurately obtained. A parameter linear sliding mode surface is adopted in a tracking stage, and a sliding mode surface is adopted in a positioning stage, so that the stability of a control system is effectively ensured, the contact impulse caused by time-varying impact force is reduced, the compliant control of the contact force between flexible docking targets is effectively realized, and the buffeting of the system in switching function sliding mode control is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robot control, in particular to a force feedback control method for a dual-arm robot to flexibly dock with a target. Background Art

[0002] In actual processing, the grinding space of the workpiece is limited, the precision is not high, and the operation performance and quality are not only affected by the positioning accuracy of the single-arm robot, but also lead to the reduction of the robot's motion trajectory control accuracy. The dual-arm robot plays a huge role in tasks such as capture, maintenance, and disassembly. When docking with the target, it often encounters the problem of complex control parameters and time-varying force feedback control. At present, the commonly used force feedback control methods for the flexible docking of dual-arm robots include fuzzy logic method, impedance control, radial basis function neural network, non-singular fast terminal function and dynamic surface control method.

[0003] After searching relevant patents and literature at home and abroad, regarding the robot's milling motion control method for thin-walled parts, there is a paper such as "Force / position hybrid control of contact-operating flying manipulator system" which uses a force / position hybrid control framework to control the aircraft system to continuously and reliably contact the external environment while maintaining a certain amount of contact force and achieve the desired trajectory tracking during the contact process. This method cannot ensure the desired contact force while moving smoothly. Another paper "Robot dynamic contact control simulation based on fractional-order impedance" proposes a robot impedance control strategy based on fractional order, analyzes the current integer-order impedance control contact process means that rely on changing the update rate and increasing or decreasing elastic terms to adapt to different tasks, and designs a more flexible fractional-order impedance control, but this method does not have a significant effect on suppressing the unstable oscillation behavior of the system. For example, the invention patent with patent application number 202210443677.7 "An intelligent and compliant control method for the contact process between a space robot and an unknown environment" discloses a detection device for the obstacle avoidance capability of a substation inspection robot. The present invention uses the Kane equation and multi-body dynamics theory to establish a dynamic model of the space robot system, and mathematically characterizes the environmental contact model between the end of the robot arm and the target. This method increases the difficulty of detection because it has high requirements on the accuracy of the mathematical model.

[0004] Although there are studies in the prior art on force feedback control methods for dual-arm robots in docking targets, if the contact model before simplification is modified using the above-mentioned method, it is difficult for the dual-arm robot to avoid interference from parameter sensitivities when capturing unknown targets. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a force feedback control method for a dual-arm robot flexible docking target. The method effectively ensures the stability of the control system, while reducing the contact impulse caused by time-varying impact force, effectively realizing the smooth control of the contact force between flexible docking targets, and reducing the jitter of the system in the switching function sliding mode control.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] In a first aspect, a force feedback control method for a dual-arm robot to flexibly dock a target according to the present invention comprises:

[0008] Considering the contact force between the dual-arm robot and the docking target, the impedance control and control torque are analyzed through the Newton-Euler equation, and the closed-loop hybrid system of the dual-arm robot contacting the docking target is obtained.

[0009] The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control force and contact impulse are extracted from the position deviation to obtain the expected joint control torque.

[0010] Based on the kinematic analysis of the closed-loop hybrid system of the dual-arm robot contacting the docking target, the expected contact impulse is obtained according to the expected joint control torque, and the impedance control method is introduced to optimize the contact force of the docking target. On the basis of the expected contact impulse, the contact force is decomposed into the carrier damping force and the end output force.

[0011] The artificial bee colony algorithm is used to match and optimize the parameters of the flexible docking target of the dual-arm robot's end effector, and the optimization objective function with the minimum terminal position error, rotation angle error and contact force error of the docking target is analyzed; based on the optimization objective function and the closed-loop hybrid system of the dual-arm robot contacting the docking target, the switching function sliding mode control law of the carrier damping force and the end output force of the dual-arm robot and the docking target is designed.

[0012] As a further optimization scheme of the force feedback control method of the dual-arm robot flexible docking target described in the present invention, the contact force between the dual-arm robot and the docking target is considered, and the impedance control and control torque are analyzed by the Newton-Euler equation to obtain a closed-loop hybrid system of the dual-arm robot contacting the docking target; the details are as follows:

[0013]

[0014] Among them, η d is the desired pose, η e is the actual pose, Q d is the docking target damping matrix, R dis the inertia force matrix, H d is the matrix of the sum of the Coriolis force and the centrifugal force, τ is the joint control torque, J(θ) is the Jacobian matrix, F is the contact force between the dual-arm robot and the docking target, x is the actual end position of the dual-arm robot, and x d is the desired end position of the dual-arm robot, D(θ) is the docking target mass matrix, is the inertia matrix of the docking target, P is the contact impulse, Δt is the contact time change value, θ is the rotation angle between the dual-arm robot and the docking target, is the second derivative of x, is x d The second derivative of is the first derivative of x, is x d The first derivative of is the second derivative of θ, is the first derivative of θ, and the superscript T is the transpose.

[0015] As a further optimization scheme of the force feedback control method of the dual-arm robot flexible docking target described in the present invention, the contact force between the dual-arm robot and the docking target is converted into a position deviation through impedance control, and the digital signal characteristic values ​​of the joint control force and the contact impulse are extracted from the position deviation, so as to obtain the expected joint control torque; specifically as follows:

[0016] The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control torque τ and the contact impulse P are extracted and compensated to the servo controller to obtain the control of the contact force acceleration and obtain the desired joint control torque.

[0017]

[0018] in, is the expected contact force between the dual-arm robot and the docking target, is the expected trajectory of the contact position; Δx is the offset of the docking target position, is the derivative with respect to Δx.

[0019] As a further optimization scheme of the force feedback control method for the flexible docking target of a dual-arm robot according to the present invention, the expected contact impulse is as follows:

[0020]

[0021] in, is the expected contact impulse, τ b is the carrier control torque, τ L is the control torque of each joint of the left arm, τ Ris the control torque of each joint of the right arm, J L , J R They are P L (k') and P R (k') The corresponding Jacobian matrix, P L (k') and P R (k') are the contact impulses at the left and right sides of the docking target at time k', respectively, and F L is the internal force exerted by the dual-arm robot and the docking target during the docking process, J is the Jacobian matrix of the contact impulse P, and They are P L (k') and P R The first derivative of (k').

[0022] As a further optimization scheme of the force feedback control method of the dual-arm robot flexible docking target described in the present invention, an impedance control method is introduced to optimize the contact force of the docking target. On the basis of the expected contact impulse, the contact force is decomposed into the carrier damping force F m and the end output force F v ; The details are as follows:

[0023]

[0024] Among them, λ g , g are the carrier damping coefficient and carrier stiffness coefficient, M Bt , B Bt , K Bt are the inertia matrix, damping matrix and stiffness matrix of the dual-arm robot respectively, η is the reference pose, τ d is the carrier control torque.

[0025] As a further optimization scheme of the force feedback control method for the flexible docking target of a dual-arm robot described in the present invention, the optimization objective function F with the smallest terminal position error, rotation angle error and contact force error of the docking target is obj As shown below:

[0026] F obj =λ1a c (xx d ) 2 +λ2a k (θ-θ d ) 2 +λ3w k (FF d ) 2 (5)

[0027] Among them, λ1 is the end position error weight, λ2 is the rotation angle error weight, λ3 is the contact force error weight, θd is the expected rotation angle between the dual-arm robot and the docking target, F d is the expected contact force between the dual-arm robot and the docking target, w k represents the weighted value of bee k, a k is the position of bee k, a c It is an elite weighted center.

[0028] As a further optimization scheme of the force feedback control method for the flexible docking target of a dual-arm robot described in the present invention, taking Formula 1 as the control system model, the switching function sliding mode control law ξ of the carrier damping force and the terminal output force of the dual-arm robot and the docking target is designed as:

[0029]

[0030] Where K is the sliding mode gain, sgn(s) is the sign function, L(θ) is the desired pose and reference pose respectively.

[0031] In a second aspect, an embodiment of the present invention further provides a computer device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the computer program, the steps of the force feedback control method for a dual-arm robot flexible docking target are implemented as described in the first aspect above or any corresponding embodiment thereof.

[0032] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it implements the steps of the force feedback control method for the flexible docking target of a dual-arm robot as described in the first aspect above or any corresponding embodiment thereof.

[0033] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0034] (1) Compared with the fuzzy logic method, the artificial bee colony optimization impedance control method under sliding mode control is used to realize force feedback control of the flexible docking target of the dual-arm robot. The control requirements of the flexible docking target carrier for rapid response and the high-precision contact impulse required for the docking operation are taken into account. The problem of difficulty in establishing a control model caused by the dynamic changes of the flexible docking target can be solved, and the solution result can be more optimized, so that the global optimal solution in the application sense can be accurately obtained.

[0035] (2) Compared with the traditional impedance control method, this method adopts the artificial bee colony optimization impedance control method under sliding mode control, uses a parametric linear sliding surface in the tracking stage, and uses a sliding surface in the positioning stage, which effectively ensures the stability of the control system and reduces the contact impulse caused by the time-varying impact force. It effectively realizes the smooth control of the contact force between flexible docking targets and reduces the jitter of the system in the switching function sliding mode control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the present invention;

[0037] Figure 2 It is the effect diagram of the control method of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] An artificial bee colony optimization impedance control method under sliding mode control realizes the force feedback control of the flexible docking target of the dual-arm robot, which can solve the problem of difficulty in establishing the control model caused by the dynamic change of the flexible docking target. Figure 1 As shown, a force feedback control method for realizing flexible docking of a dual-arm robot by an artificial bee colony optimization impedance control method under sliding mode control includes the following steps:

[0040] Firstly, the contact force between the dual-arm robot and the docking target is considered, and the impedance control and control torque are analyzed through the Newton-Euler equation to obtain a closed-loop hybrid system of the dual-arm robot contacting the docking target; the contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control force and contact impulse are extracted from the position deviation to obtain the expected joint control torque; since the docking target will be subjected to impact feedback during the contact process, the expected contact impulse is obtained based on the expected joint control torque on the basis of the kinematic analysis of the closed-loop hybrid system of the dual-arm robot contacting the docking target. In order to improve the accuracy of the state, it is difficult to avoid time-varying contact between the dual-arm robot grasping tool and the carrier of the flexible docking target. The impedance control method is introduced to optimize the contact force of the docking target. On the basis of the expected contact impulse, the contact force is decomposed into the carrier damping force and the terminal output force. The artificial bee colony algorithm is used to match and optimize the parameters of the flexible docking target of the dual-arm robot end effector, and the optimization objective function with the minimum terminal position error, rotation angle error and contact force error of the docking target is analyzed. According to the optimization objective function and the closed-loop hybrid system of the dual-arm robot contacting the docking target, the switching function sliding mode control law of the carrier damping force and the terminal output force of the dual-arm robot and the docking target is designed. Finally, the contact force test is compared by using the artificial bee colony optimization impedance control method under sliding mode control and the traditional impedance control method to illustrate the superiority of the effect of the present invention.

[0041] Considering the contact force between the dual-arm robot and the docking target when working, the impedance control and control torque analysis are carried out through the Newton-Euler equation, and the closed-loop hybrid system of the dual-arm robot contacting the docking target is obtained.

[0042]

[0043] Among them, η d is the desired pose, η e is the actual pose, Q d is the docking target damping matrix, R d is the inertia force matrix, H d is the matrix of the sum of the Coriolis force and the centrifugal force, τ is the joint control torque, J(θ) is the Jacobian matrix, F is the contact force between the dual-arm robot and the docking target, x is the actual end position of the dual-arm robot, and x d is the desired end position of the dual-arm robot, D(θ) is the docking target mass matrix, is the inertia matrix of the docking target, P is the contact impulse, Δt is the contact time change value, θ is the rotation angle between the dual-arm robot and the docking target, is the second derivative of x, is x d The second derivative of is the first derivative of x, is x d The first derivative of is the second derivative of θ, is the first derivative of θ, and the superscript T is the transpose.

[0044] The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control torque τ and the contact impulse P are extracted and compensated to the servo controller to obtain the control of the contact force acceleration and obtain the desired joint control torque.

[0045]

[0046] in, is the expected contact force between the dual-arm robot and the docking target, is the expected trajectory of the contact position; Δx is the offset of the docking target position, is the derivative with respect to Δx.

[0047] Considering that the docking target will be subjected to impact feedback during the contact process, based on the kinematic analysis of the closed-loop hybrid system of the dual-arm robot contacting the docking target, the expected contact impulse after the system docking is obtained.

[0048] The expected contact impulse is as follows:

[0049]

[0050] in, is the expected contact impulse, τ b is the carrier control torque, τ L is the control torque of each joint of the left arm, τ R is the control torque of each joint of the right arm, J L , J R They are P L (k') and P R (k') The corresponding Jacobian matrix, P L (k') and P R (k') are the contact impulses at the left and right sides of the docking target at time k', respectively, and F L is the internal force exerted by the dual-arm robot and the docking target during the docking process, J is the Jacobian matrix of the contact impulse P, and They are P L (k') and P R The first derivative of (k').

[0051] Limited by the time-varying positioning and posture accuracy of the carrier, it is difficult to avoid time-varying contact between the dual-arm robot grasping tool and the carrier of the flexible docking target. The impedance control method is introduced to optimize the contact force of the docking target. Based on the expected contact impulse, the contact force is decomposed into the carrier damping force F m and the end output force F v ; The details are as follows:

[0052]

[0053] Among them, λ g , g are the carrier damping coefficient and carrier stiffness coefficient, M Bt , B Bt , K Bt are the inertia matrix, damping matrix and stiffness matrix of the dual-arm robot respectively, η is the reference pose, τ d is the carrier control torque.

[0054] The artificial bee colony algorithm is used to match and optimize the parameters of the flexible docking target of the dual-arm robot end effector. Through the force analysis of the closed-loop hybrid system (1) of the dual-arm robot contacting the docking target, the optimization objective function F is designed to minimize the docking target end position error, rotation angle error and contact force error. obj for,

[0055] F obj =λ1a c (xx d ) 2 +λ2a k (θ-θ d ) 2 +λ3w k (FF d ) 2 (5)

[0056] Among them, λ1 is the end position error weight, λ2 is the rotation angle error weight, λ3 is the contact force error weight, θ d is the expected rotation angle between the dual-arm robot and the docking target, F d is the expected contact force between the dual-arm robot and the docking target, w k represents the weighted value of bee k, a k is the position of bee k, a c It is an elite weighted center.

[0057] Taking Formula 1 as the control system model, the switching function sliding mode control law ξ of the carrier damping force and the terminal output force between the dual-arm robot and the docking target is designed as:

[0058]

[0059] Where K is the sliding mode gain, sgn(s) is the sign function, L(θ) is the desired pose and reference pose respectively.

[0060] like Figure 2 As shown in the figure, when the end of the dual-arm robot approaches the docking target carrier, the contact force test is carried out using the artificial bee colony optimization impedance control method under sliding mode control and the traditional impedance control method. Figure 2 It can be seen that when the artificial bee colony optimization impedance control method under sliding mode control is used to adjust the contact force parameters, the contact force fluctuation amplitude is significantly reduced, the amplitude fluctuates within a controllable range, and the response speed increases faster than the traditional impedance control method.

[0061] In summary, this method uses the artificial bee colony optimization impedance control method under sliding mode control to realize the force feedback control of the flexible docking target of the dual-arm robot. It takes into account the control requirements of the flexible docking target carrier for rapid response and the high-precision contact impulse required for the docking operation. It can solve the problem of the difficulty in establishing the control model caused by the dynamic change of the flexible docking target, and will make the solution more optimized, so that the global optimal solution in the sense of application can be accurately obtained. The parameter linear sliding surface is used in the tracking stage, and the sliding surface is used in the positioning stage, which effectively ensures the stability of the control system, while reducing the contact impulse caused by the time-varying impact force, effectively realizing the smooth control of the contact force between the flexible docking targets, and reducing the system chattering in the switching function sliding mode control.

[0062] An embodiment of the present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the steps of the force feedback control method for the flexible docking target of a dual-arm robot are implemented as described in the first aspect above or any corresponding embodiment thereof.

[0063] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the force feedback control method for the flexible docking target of a dual-arm robot as described in the first aspect above or any corresponding embodiment thereof.

[0064] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0065] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0068] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0069] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A force feedback control method for a dual-arm robot to flexibly dock with a target, characterized in that: include: Considering the contact force between the dual-arm robot and the docking target, the impedance control and control torque are analyzed through the Newton-Euler equation, and the closed-loop hybrid system of the dual-arm robot contacting the docking target is obtained. The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control force and contact impulse are extracted from the position deviation to obtain the expected joint control torque. Based on the kinematic analysis of the closed-loop hybrid system of the dual-arm robot contacting the docking target, the expected contact impulse is obtained according to the expected joint control torque, and the impedance control method is introduced to optimize the contact force of the docking target. On the basis of the expected contact impulse, the contact force is decomposed into the carrier damping force and the end output force. The artificial bee colony algorithm is used to match and optimize the parameters of the flexible docking target of the dual-arm robot's end effector, and the optimization objective function with the minimum terminal position error, rotation angle error and contact force error of the docking target is analyzed; based on the optimization objective function and the closed-loop hybrid system of the dual-arm robot contacting the docking target, the switching function sliding mode control law of the carrier damping force and the end output force of the dual-arm robot and the docking target is designed.

2. The force feedback control method for a dual-arm robot flexible docking target according to claim 1 is characterized in that: Considering the contact force between the dual-arm robot and the docking target when working, the impedance control and control torque are analyzed through the Newton-Euler equation, and the closed-loop hybrid system of the dual-arm robot contacting the docking target is obtained; the details are as follows: Among them, η d is the desired pose, η e is the actual pose, Q d is the docking target damping matrix, R d is the inertia force matrix, H d is the matrix of the sum of the Coriolis force and the centrifugal force, τ is the joint control torque, J(θ) is the Jacobian matrix, F is the contact force between the dual-arm robot and the docking target, x is the actual end position of the dual-arm robot, and x d is the desired end position of the dual-arm robot, D(θ) is the docking target mass matrix, is the inertia matrix of the docking target, P is the contact impulse, Δt is the contact time change value, θ is the rotation angle between the dual-arm robot and the docking target, is the second derivative of x, is x d The second derivative of is the first derivative of x, is x d The first derivative of is the second derivative of θ, is the first derivative of θ, and the superscript T is the transpose.

3. The force feedback control method for a dual-arm robot flexible docking target according to claim 2 is characterized in that: The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control force and contact impulse are extracted from the position deviation to obtain the expected joint control torque; the details are as follows: The contact force between the dual-arm robot and the docking target is converted into position deviation through impedance control, and the digital signal characteristic values ​​of the joint control torque τ and the contact impulse P are extracted and compensated to the servo controller to obtain the control of the contact force acceleration and obtain the desired joint control torque. in, is the expected contact force between the dual-arm robot and the docking target, is the expected trajectory of the contact position; Δx is the offset of the docking target position, is the derivative with respect to Δx.

4. The force feedback control method for a dual-arm robot to flexibly dock with a target according to claim 3, characterized in that: The expected contact impulse is as follows: in, is the expected contact impulse, τ b is the carrier control torque, τ L is the control torque of each joint of the left arm, τ R is the control torque of each joint of the right arm, J L , J R They are P L (k') and P R (k') The corresponding Jacobian matrix, P L (k') and P R (k') are the contact impulses at the left and right sides of the docking target at time k', respectively, and F L is the internal force exerted by the dual-arm robot and the docking target during the docking process, J is the Jacobian matrix of the contact impulse P, and They are P L (k') and P R The first derivative of (k').

5. The force feedback control method for a dual-arm robot to flexibly dock with a target according to claim 4, characterized in that: The impedance control method is introduced to optimize the contact force of the docking target. Based on the expected contact impulse, the contact force is decomposed into the carrier damping force F m and the end output force F v ; The details are as follows: Among them, λ g , g are the carrier damping coefficient and carrier stiffness coefficient, M Bt , B Bt , K Bt are the inertia matrix, damping matrix and stiffness matrix of the dual-arm robot respectively, η is the reference pose, τ d is the carrier control torque.

6. A force feedback control method for a dual-arm robot to flexibly dock with a target according to claim 5, characterized in that: The optimization objective function F with the minimum docking target end position error, rotation angle error and contact force error obj As shown below: F obj =λ1a c (xx) d ) 2 +λ2a k (θ-θ d ) 2 +λ3w k (FF d ) 2 (5) Among them, λ1 is the end position error weight, λ2 is the rotation angle error weight, λ3 is the contact force error weight, θ d is the expected rotation angle between the dual-arm robot and the docking target, F d is the expected contact force between the dual-arm robot and the docking target, w k represents the weighted value of bee k, a k is the position of bee k, a c It is an elite weighted center.

7. A force feedback control method for a dual-arm robot to flexibly dock with a target according to claim 6, characterized in that: Taking Formula 1 as the control system model, the switching function sliding mode control law of the carrier damping force and the end output force of the dual-arm robot and the docking target is designed as follows: Where K is the sliding mode gain, sgn(s) is the sign function, L(θ) is the desired pose and reference pose respectively.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the computer program, the steps of the force feedback control method for the flexible docking target of a dual-arm robot are implemented as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the force feedback control method for a dual-arm robot flexible docking target as described in any one of claims 1 to 7 are implemented.

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