Method and system for controlling force application component on mechanical arm based on elastic deformation compensation

Abstract

The invention provides a control method, system and equipment for a force application component on a mechanical arm based on elastic deformation compensation and a computer readable storage medium. According to the method, a pressure sensor and an abutting component are arranged at the opposite ends of a force application component respectively; the analog voltage signal output by the pressure sensor is converted into a digital voltage signal; when an elastic element is arranged at the position, making contact with the force bearing point, of the abutting component, the deformation quantity of the elastic element is obtained; based on the digital voltage signal and the deformation quantity of the elastic element, calculating the actual acting force applied by the force applying component through the abutting component; and comparing the actual acting force with the preset acting force, and performing PID control on the force application component according to the deviation between the actual acting force and the preset acting force, so that the acting force applied by the force application component gradually approaches and is stabilized at the preset acting force. According to the embodiment of the invention, PID control can be more accurately carried out on the force application component.

Description

Technical Field

[0001] The present application belongs to the field of control of a force-applying component on a robotic arm, and in particular, to a control method, system, device and computer-readable storage medium for a force-applying component on a robotic arm based on elastic deformation compensation. Background Art

[0002] Currently, in order to reduce the influence of the detection error of the pressure sensor in the constant force system, the pressure sensor is usually installed at the rigid connection where the force application point and the force receiving point contact (that is, the front end position of the force application point).

[0003] However, in some special environments, it is not allowed to install the pressure sensor directly on the rigid connection. For example, in scenarios that require waterproofing, isolation, heat insulation, vacuum environment or meet disinfection and sterilization requirements, it is often necessary to add elastic material between the force application point and the force receiving point to achieve isolation or sealing function.

[0004] In this case, the pressure sensor is usually arranged at the rear end of the force application point. This arrangement will inevitably introduce elastic force errors caused by the elastic material, thereby affecting the accuracy of the force detected by the pressure sensor.

[0005] If the controller in the constant force system still performs PID control on the force-applying component based on the force data with errors, the control accuracy cannot be ensured, and ultimately the force applied by the force-applying component to the force application point cannot stably reach the expected constant output value.

[0006] Therefore, how to more accurately perform PID control on the force-applying component is a technical problem that those skilled in the art need to solve urgently. Summary of the invention

[0007] The embodiments of the present application provide a control method, system, device and computer-readable storage medium for a force-applying component on a robotic arm based on elastic deformation compensation, which can more accurately perform PID control on the force-applying component.

[0008] In a first aspect, an embodiment of the present application provides a method for controlling a force-applying component on a robot arm based on elastic deformation compensation, comprising:

[0009] A pressure sensor and an abutting member are respectively arranged at opposite ends of the force-applying member, wherein the abutting member is used to contact with the force-bearing point and transmit the force, and the pressure sensor is used to detect the force between the abutting member and the force-bearing point, and convert it into an analog voltage signal and then output it to the controller;

[0010] Convert the analog voltage signal output by the pressure sensor into a digital voltage signal;

[0011] When an elastic element is arranged at a position where the abutting member contacts the force-bearing point, a deformation amount of the elastic element is obtained;

[0012] Calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element;

[0013] The actual force is compared with the preset force, and the force-applying component is PID-controlled according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

[0014] Optionally, converting the analog voltage signal output by the pressure sensor into a digital voltage signal includes:

[0015] The high-frequency noise in the analog voltage signal is removed by a low-pass filter to ensure signal stability;

[0016] Use operational amplifiers to amplify weak analog signals to improve signal measurement accuracy;

[0017] adjusting the conditioned signal to the input voltage range of the analog-to-digital converter;

[0018] According to the response time requirements of the control system, set the ADC sampling rate to ensure the real-time and accuracy of signal conversion;

[0019] The ADC samples the analog signal to obtain discrete voltage values;

[0020] Divide the sampled analog voltage value into a fixed number of digital levels and generate corresponding binary digital values;

[0021] The quantized results are encoded into digital signals for subsequent processing.

[0022] Optionally, also include:

[0023] Perform zero-point offset calibration on the conversion result to eliminate the zero-point error of the sensor and circuit;

[0024] Linearize the signal through lookup table or polynomial fitting to reduce the impact of nonlinear error on the measurement results;

[0025] The converted digital voltage signal is stored in a register of a microcontroller or transmitted to a controller via a communication bus;

[0026] The digital signal is verified during the transmission process to ensure the integrity and accuracy of data transmission.

[0027] Optionally, when an elastic element is provided at a position where the abutting member contacts the force point, obtaining the deformation amount of the elastic element includes:

[0028] According to the elastic element used, record its key parameters;

[0029] Ensure that the elastic element is accurately installed in the contact area between the abutment member and the force-bearing point, and maintains a stable connection with the measuring device;

[0030] Displacement sensors are installed at both ends of the elastic element;

[0031] Perform zero point calibration on the displacement sensor to ensure that the measurement value at the initial position is zero or a known reference value;

[0032] Record the length of the elastic element when it is not stressed;

[0033] Real-time measurement of the current length of the elastic element under stress;

[0034] Calculate the deformation amount;

[0035] The measured length is sampled multiple times and the average is calculated to reduce the measurement error;

[0036] Considering the influence of environmental factors on the deformation of elastic elements, a compensation model is used for correction;

[0037] Smoothing the measurement results to reduce measurement noise;

[0038] The deformation is stored in the control system for subsequent mechanical calculations;

[0039] The deformation variables are transmitted to the controller through the data interface to participate in the control logic in real time;

[0040] Verify the accuracy of deformation calculation through simulation tests or experiments under known force conditions;

[0041] Adjust the sensor sensitivity or compensation model according to the calibration results to further improve the measurement accuracy.

[0042] Optionally, calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element includes:

[0043] Record the stiffness coefficient of the elastic element and its initial length when no force is applied;

[0044] Obtaining a corresponding digital voltage signal from an analog-to-digital conversion module;

[0045] Obtaining the deformation amount of the elastic element through a deformation amount measuring step;

[0046] Calculate the applied force based on the elastic deformation;

[0047] Use Hooke's law to calculate the elastic force of the elastic element based on the deformation;

[0048] Calculate the applied force based on the digital voltage signal;

[0049] Converting digital voltage signals into corresponding mechanical signals requires the calibration relationship of the sensor;

[0050] The actual force of the force-applying component is obtained through weighted fusion based on the elastic force calculation of the elastic element and the mechanical signal of the sensor.

[0051] Optionally, based on the digital voltage signal and the deformation amount of the elastic element, after obtaining the actual force of the force-applying member through weighted fusion, the method further includes:

[0052] Consider the impact of environmental factors on the measurement results and correct the actual force through the compensation model;

[0053] Among them, the correction value of environmental factors is usually collected by environmental sensors and calculated in combination with empirical models;

[0054] The calculated actual force is stored in the controller memory or register for use by subsequent control algorithms;

[0055] If real-time monitoring or debugging is required, the actual force is transmitted to the display device or main control system through the communication bus;

[0056] Use a standard force sensor or known force conditions to verify whether the calculated actual force value is consistent with the expected value.

[0057] Optionally, comparing the actual force with the preset force and performing PID control on the force-applying component according to the deviation between the two, including:

[0058] Determine the preset force that the force-applying member needs to achieve and input it into the control system;

[0059] Set the three parameters of PID controller: proportional, integral and differential;

[0060] Initialize the error value, error accumulation value and historical error change rate to ensure that the system initial state is clear;

[0061] The actual force value of the current force-applying component is obtained in real time through the sensor;

[0062] Compare the actual force with the preset force and calculate the deviation between the two;

[0063] According to the current deviation value, the immediate response amount that the force-applying component needs to adjust is calculated to quickly reduce the deviation;

[0064] Accumulate the historical deviation values, calculate the impact of the accumulated error on the output, and further eliminate the steady-state error of the system;

[0065] According to the trend of deviation change, predict the possible future state of the system and correct the response to reduce oscillation or overshoot;

[0066] The total adjustment of the force-applying component is calculated by combining the results of the proportion, integration and differentiation;

[0067] converting the adjustment amount calculated by the controller into an execution signal of the force-applying component;

[0068] The driving force-applying component adjusts the force in real time, gradually approaching the preset force value;

[0069] Continuously monitor the deviation between the actual force value and the preset force value;

[0070] Dynamically optimize PID parameters according to the system response to improve control effects;

[0071] When the actual force reaches and stabilizes near the preset force, the system keeps running;

[0072] Periodically check the control status to ensure system stability and accuracy.

[0073] In a second aspect, an embodiment of the present application provides a control system for a force-applying member on a mechanical arm based on elastic deformation compensation, which is applied to a controller, and a pressure sensor and an abutment member are respectively arranged at opposite ends of the force-applying member, wherein the abutment member is used to contact with a force-bearing point and transmit the force, and the pressure sensor is used to detect the force between the abutment member and the force-bearing point, and convert it into an analog voltage signal and output it to the controller;

[0074] A conversion module, used to convert the analog voltage signal output by the pressure sensor into a digital voltage signal;

[0075] An acquisition module, used for acquiring a deformation amount of the elastic element when the elastic element is arranged at a position where the abutting member contacts the force point;

[0076] A calculation module, for calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element;

[0077] The control module is used to compare the actual force with the preset force, and perform PID control on the force-applying component according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

[0078] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any one of the methods when executed by a processor.

[0079] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0080] a memory having a computer program stored thereon;

[0081] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0083] Figure 1 It is a flow chart of a control method of a force-applying component on a mechanical arm based on elastic deformation compensation provided by an embodiment of the present application;

[0084] Figure 2 It is a structural schematic diagram of a control system of a force-applying component on a mechanical arm based on elastic deformation compensation provided by an embodiment of the present application;

[0085] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0086] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0087] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0088] In order to solve the problems of the prior art, the embodiments of the present application provide a control method, system, device and computer-readable storage medium for a force-applying component on a mechanical arm based on elastic deformation compensation. The control method for a force-applying component on a mechanical arm based on elastic deformation compensation provided by the embodiments of the present application is first introduced below.

[0089] Figure 1 FIG. 1 is a flow chart of a control method for a force-applying component on a mechanical arm based on elastic deformation compensation provided by an embodiment of the present application. Figure 1 As shown, the control method of the force-applying component on the mechanical arm based on elastic deformation compensation includes:

[0090] A pressure sensor and an abutting member are respectively arranged at opposite ends of the force-applying member, wherein the abutting member is used to contact with the force-bearing point and transmit the force, and the pressure sensor is used to detect the force between the abutting member and the force-bearing point, and convert it into an analog voltage signal and then output it to the controller;

[0091] S101, converting the analog voltage signal output by the pressure sensor into a digital voltage signal;

[0092] S102, when an elastic element is provided at a position where the abutting member contacts the force-bearing point, obtaining a deformation amount of the elastic element;

[0093] S103, calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element;

[0094] S104: Compare the actual force with the preset force, and perform PID control on the force-applying component according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

[0095] In one embodiment, converting the analog voltage signal output by the pressure sensor into a digital voltage signal includes:

[0096] The high-frequency noise in the analog voltage signal is removed by a low-pass filter to ensure signal stability;

[0097] Use operational amplifiers to amplify weak analog signals to improve signal measurement accuracy;

[0098] adjusting the conditioned signal to the input voltage range of the analog-to-digital converter;

[0099] According to the response time requirements of the control system, set the ADC sampling rate to ensure the real-time and accuracy of signal conversion;

[0100] The ADC samples the analog signal to obtain discrete voltage values;

[0101] Divide the sampled analog voltage value into a fixed number of digital levels and generate corresponding binary digital values;

[0102] The quantized results are encoded into digital signals for subsequent processing.

[0103] In one embodiment, it further includes:

[0104] Perform zero-point offset calibration on the conversion result to eliminate the zero-point error of the sensor and circuit;

[0105] Linearize the signal through lookup table or polynomial fitting to reduce the impact of nonlinear error on the measurement results;

[0106] The converted digital voltage signal is stored in a register of a microcontroller or transmitted to a controller via a communication bus;

[0107] The digital signal is verified during the transmission process to ensure the integrity and accuracy of data transmission.

[0108] In one embodiment, when an elastic element is provided at a position where the abutting member contacts the force point, obtaining the deformation amount of the elastic element includes:

[0109] According to the elastic element used, record its key parameters;

[0110] Ensure that the elastic element is accurately installed in the contact area between the abutment member and the force-bearing point, and maintains a stable connection with the measuring device;

[0111] Displacement sensors are installed at both ends of the elastic element;

[0112] Perform zero point calibration on the displacement sensor to ensure that the measurement value at the initial position is zero or a known reference value;

[0113] Record the length of the elastic element when it is not stressed;

[0114] Real-time measurement of the current length of the elastic element under stress;

[0115] Calculate the deformation amount;

[0116] The measured length is sampled multiple times and the average is calculated to reduce the measurement error;

[0117] Considering the influence of environmental factors on the deformation of elastic elements, a compensation model is used for correction;

[0118] Smoothing the measurement results to reduce measurement noise;

[0119] The deformation is stored in the control system for subsequent mechanical calculations;

[0120] The deformation variables are transmitted to the controller through the data interface to participate in the control logic in real time;

[0121] Verify the accuracy of deformation calculation through simulation tests or experiments under known force conditions;

[0122] Adjust the sensor sensitivity or compensation model according to the calibration results to further improve the measurement accuracy.

[0123] In one embodiment, based on the digital voltage signal and the deformation amount of the elastic element, calculating the actual force applied by the force-applying member through the abutting member includes:

[0124] Record the stiffness coefficient of the elastic element and its initial length when no force is applied;

[0125] Obtaining a corresponding digital voltage signal from an analog-to-digital conversion module;

[0126] Obtaining the deformation amount of the elastic element through a deformation amount measuring step;

[0127] Calculate the applied force based on the elastic deformation;

[0128] Use Hooke's law to calculate the elastic force of the elastic element based on the deformation;

[0129] Calculate the applied force based on the digital voltage signal;

[0130] Converting digital voltage signals into corresponding mechanical signals requires the calibration relationship of the sensor;

[0131] The actual force of the force-applying component is obtained through weighted fusion based on the elastic force calculation of the elastic element and the mechanical signal of the sensor.

[0132] In one embodiment, based on the digital voltage signal and the deformation amount of the elastic element, after obtaining the actual force of the force-applying member through weighted fusion, the method further includes:

[0133] Consider the impact of environmental factors on the measurement results and correct the actual force through the compensation model;

[0134] Among them, the correction value of environmental factors is usually collected by environmental sensors and calculated in combination with empirical models;

[0135] The calculated actual force is stored in the controller memory or register for use by subsequent control algorithms;

[0136] If real-time monitoring or debugging is required, the actual force is transmitted to the display device or main control system through the communication bus;

[0137] Use a standard force sensor or known force conditions to verify whether the calculated actual force value is consistent with the expected value.

[0138] In one embodiment, the actual force is compared with the preset force, and the force applying member is PID controlled according to the deviation between the two, including:

[0139] Determine the preset force that the force-applying member needs to achieve and input it into the control system;

[0140] Set the three parameters of PID controller: proportional, integral and differential;

[0141] Initialize the error value, error accumulation value and historical error change rate to ensure that the system initial state is clear;

[0142] The actual force value of the current force-applying component is obtained in real time through the sensor;

[0143] Compare the actual force with the preset force and calculate the deviation between the two;

[0144] According to the current deviation value, the immediate response amount that the force-applying component needs to adjust is calculated to quickly reduce the deviation;

[0145] Accumulate the historical deviation values, calculate the impact of the accumulated error on the output, and further eliminate the steady-state error of the system;

[0146] According to the trend of deviation change, predict the possible future state of the system and correct the response to reduce oscillation or overshoot;

[0147] The total adjustment of the force-applying component is calculated by combining the results of the proportion, integration and differentiation;

[0148] converting the adjustment amount calculated by the controller into an execution signal of the force-applying component;

[0149] The driving force-applying component adjusts the force in real time, gradually approaching the preset force value;

[0150] Continuously monitor the deviation between the actual force value and the preset force value;

[0151] Dynamically optimize PID parameters according to the system response to improve control effects;

[0152] When the actual force reaches and stabilizes near the preset force, the system keeps running;

[0153] Periodically check the control status to ensure system stability and accuracy.

[0154] Figure 2 It is a structural schematic diagram of a control system of a force-applying component on a mechanical arm based on elastic deformation compensation provided by an embodiment of the present application;

[0155] The control system of the force-applying member on the mechanical arm based on elastic deformation compensation is applied to the controller, and a pressure sensor and an abutment member are respectively arranged at the opposite ends of the force-applying member, wherein the abutment member is used to contact with the force point and transmit the force, and the pressure sensor is used to detect the force between the abutment member and the force point, and convert it into an analog voltage signal and then output it to the controller;

[0156] The conversion module 201 is used to convert the analog voltage signal output by the pressure sensor into a digital voltage signal;

[0157] An acquisition module 202, for acquiring a deformation amount of the elastic element when the elastic element is arranged at a position where the abutting member contacts the force point;

[0158] A calculation module 203, for calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element;

[0159] The control module 204 is used to compare the actual force with the preset force, and perform PID control on the force-applying component according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

[0160] The present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any one of the methods when executed by a processor.

[0161] The present application also provides an electronic device, comprising:

[0162] a memory having a computer program stored thereon;

[0163] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods.

[0164] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0165] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0166] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0167] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the electronic device. In a particular embodiment, the memory 302 may be a non-volatile solid-state memory.

[0168] In one embodiment, the memory 302 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0169] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the control methods for the force-applying component on the robot arm based on elastic deformation compensation in the above embodiments.

[0170] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0171] The communication interface 303 is mainly used to implement communication between various modules, systems, units and / or devices in the embodiments of the present application.

[0172] Bus 310 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0173] In addition, in combination with the control method of the force-applying member on the mechanical arm based on elastic deformation compensation in the above embodiments, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the control methods of the force-applying member on the mechanical arm based on elastic deformation compensation in the above embodiments is implemented.

[0174] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0175] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0176] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or systems. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0177] The above reference is according to the method of the embodiment of the present application, the flow chart of system (system) and computer program product and / or block diagram and describe various aspects of the present application.It should be understood that each square frame in the flow chart and / or block diagram and the combination of each square frame in the flow chart and / or block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of general-purpose computer, special-purpose computer or other programmable data processing system, to produce a kind of machine, so that these instructions executed by the processor of computer or other programmable data processing system enable the realization of the function / action specified in one or more square frames of flow chart and / or block diagram.Such processor can be but not limited to general-purpose processor, special-purpose processor, special application processor or field programmable logic circuit.It can also be understood that each square frame in the block chart and / or flow chart and the combination of square frames in the block chart and / or flow chart can also be realized by the special-purpose hardware that performs the specified function or action, or can be realized by the combination of special-purpose hardware and computer instructions.

[0178] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A control method for a force-applying component on a mechanical arm based on elastic deformation compensation, characterized in that: include: A pressure sensor and an abutting member are respectively arranged at opposite ends of the force-applying member, wherein the abutting member is used to contact with the force-bearing point and transmit the force, and the pressure sensor is used to detect the force between the abutting member and the force-bearing point, and convert it into an analog voltage signal and then output it to the controller; Convert the analog voltage signal output by the pressure sensor into a digital voltage signal; When an elastic element is arranged at a position where the abutting member contacts the force-bearing point, a deformation amount of the elastic element is obtained; Calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element; The actual force is compared with the preset force, and the force-applying component is PID-controlled according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

2. The method according to claim 1, characterized in that: Convert the analog voltage signal output by the pressure sensor into a digital voltage signal, including: The high-frequency noise in the analog voltage signal is removed by a low-pass filter to ensure signal stability; Use operational amplifiers to amplify weak analog signals to improve signal measurement accuracy; adjusting the conditioned signal to the input voltage range of the analog-to-digital converter; According to the response time requirements of the control system, set the ADC sampling rate to ensure the real-time and accuracy of signal conversion; The ADC samples the analog signal to obtain discrete voltage values; Divide the sampled analog voltage value into a fixed number of digital levels and generate corresponding binary digital values; The quantized results are encoded into digital signals for subsequent processing.

3. The method according to claim 2, characterized in that Also includes: Perform zero-point offset calibration on the conversion result to eliminate the zero-point error of the sensor and circuit; Linearize the signal through lookup table or polynomial fitting to reduce the impact of nonlinear error on the measurement results; The converted digital voltage signal is stored in a register of a microcontroller or transmitted to a controller via a communication bus; The digital signal is verified during the transmission process to ensure the integrity and accuracy of data transmission.

4. The method according to claim 3, characterized in that When an elastic element is arranged at a position where the abutting member contacts the force point, the deformation amount of the elastic element is obtained, including: According to the elastic element used, record its key parameters; Ensure that the elastic element is accurately installed in the contact area between the abutment member and the force-bearing point, and maintains a stable connection with the measuring device; Displacement sensors are installed at both ends of the elastic element; Perform zero point calibration on the displacement sensor to ensure that the measurement value at the initial position is zero or a known reference value; Record the length of the elastic element when it is not stressed; Real-time measurement of the current length of the elastic element under stress; Calculate the deformation amount; The measured length is sampled multiple times and the average is calculated to reduce the measurement error; Considering the influence of environmental factors on the deformation of elastic elements, a compensation model is used for correction; Smoothing the measurement results to reduce measurement noise; The deformation is stored in the control system for subsequent mechanical calculations; The deformation variables are transmitted to the controller through the data interface to participate in the control logic in real time; Verify the accuracy of deformation calculation through simulation tests or experiments under known force conditions; Adjust the sensor sensitivity or compensation model according to the calibration results to further improve the measurement accuracy.

5. The method according to claim 4, characterized in that Based on the digital voltage signal and the deformation amount of the elastic element, the actual force applied by the force-applying component through the abutting component is calculated, including: Record the stiffness coefficient of the elastic element and its initial length when no force is applied; Obtaining a corresponding digital voltage signal from an analog-to-digital conversion module; Obtaining the deformation amount of the elastic element through a deformation amount measuring step; Calculate the applied force based on the elastic deformation; Use Hooke's law to calculate the elastic force of the elastic element based on the deformation; Calculate the applied force based on the digital voltage signal; Converting digital voltage signals into corresponding mechanical signals requires the calibration relationship of the sensor; The actual force of the force-applying component is obtained through weighted fusion based on the elastic force calculation of the elastic element and the mechanical signal of the sensor.

6. The method according to claim 5, characterized in that Based on the digital voltage signal and the deformation amount of the elastic element, after obtaining the actual force of the force-applying component through weighted fusion, it also includes: Consider the impact of environmental factors on the measurement results and correct the actual force through the compensation model; Among them, the correction value of environmental factors is usually collected by environmental sensors and calculated in combination with empirical models; The calculated actual force is stored in the controller memory or register for use by subsequent control algorithms; If real-time monitoring or debugging is required, the actual force is transmitted to the display device or main control system through the communication bus; Use a standard force sensor or known force conditions to verify whether the calculated actual force value is consistent with the expected value.

7. The method according to claim 6, characterized in that Compare the actual force with the preset force, and perform PID control on the force-applying component according to the deviation between the two, including: Determine the preset force that the force-applying member needs to achieve and input it into the control system; Set the three parameters of PID controller: proportional, integral and differential; Initialize the error value, error accumulation value and historical error change rate to ensure that the system's initial state is clear; The actual force value of the current force-applying component is obtained in real time through the sensor; Compare the actual force with the preset force and calculate the deviation between the two; According to the current deviation value, the immediate response amount that the force-applying component needs to adjust is calculated to quickly reduce the deviation; Accumulate the historical deviation values, calculate the impact of the accumulated error on the output, and further eliminate the steady-state error of the system; According to the trend of deviation change, predict the possible future state of the system and correct the response to reduce oscillation or overshoot; The total adjustment of the force-applying component is calculated by combining the results of the proportion, integration and differentiation; converting the adjustment amount calculated by the controller into an execution signal of the force-applying component; The driving force-applying component adjusts the force in real time, gradually approaching the preset force value; Continuously monitor the deviation between the actual force value and the preset force value; Dynamically optimize PID parameters according to the system response to improve control effects; When the actual force reaches and stabilizes near the preset force, the system keeps running; Periodically check the control status to ensure system stability and accuracy.

8. A control system for a force-applying component on a mechanical arm based on elastic deformation compensation, applied to a controller, characterized in that: A pressure sensor and an abutting member are respectively arranged at opposite ends of the force-applying member, wherein the abutting member is used to contact with the force-bearing point and transmit the force, and the pressure sensor is used to detect the force between the abutting member and the force-bearing point, and convert it into an analog voltage signal and then output it to the controller; A conversion module, used to convert the analog voltage signal output by the pressure sensor into a digital voltage signal; An acquisition module, used for acquiring a deformation amount of the elastic element when the elastic element is arranged at a position where the abutting member contacts the force point; A calculation module, for calculating the actual force applied by the force-applying member through the abutting member based on the digital voltage signal and the deformation amount of the elastic element; The control module is used to compare the actual force with the preset force, and perform PID control on the force-applying component according to the deviation between the two, so that the force applied by the force-applying component gradually approaches and stabilizes at the preset force.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 6.

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