Man-machine cooperation active compliance control method for industrial robot

Abstract

The invention relates to a man-machine cooperation active compliance control method for an industrial robot, and belongs to the technical field of industrial robot control. Comprising the following steps that according to a gravity compensation algorithm and a six-dimensional force sensor zero drift compensation algorithm of the industrial robot, the corresponding relation between reading force and reading torque read by the industrial robot through a six-dimensional force sensor and actual force and actual torque borne by the industrial robot is established; establishing a one-dimensional movement admittance control model and a one-dimensional rotation admittance control model of the industrial robot; and when the relative tail end of the industrial robot starts to be influenced by external force, active compliance control is performed on the relative tail end of the industrial robot through the discrete movement control model and the discrete rotation control model, so that the relative tail end of the industrial robot reaches a specified position. According to the invention, the limitation that the running speed of the conventional industrial heavy-load robot has to be reduced due to the collision risk is broken through, the assembly efficiency is improved, and the assembly quality is ensured.

Description

Technical Field

[0001] The present invention specifically relates to a human-machine collaborative active compliance control method for an industrial robot, and belongs to the technical field of industrial robot control. Background Art

[0002] With the vigorous development of the manufacturing industry, industrial robots are playing an increasingly important role in many manufacturing fields. Especially in the fields of automobile production, aerospace, etc., industrial robots are widely used in various key tasks.

[0003] However, due to the characteristics of industrial robots with high repeatability and low absolute positioning accuracy, industrial robots are widely used in some fields with low precision requirements and large-scale mass production, such as automobile production. However, in some fields with particularly high precision requirements and customized products, such as aerospace, the control methods of traditional industrial robots still find it difficult to complete various tasks. In particular, for some customized complex and heavy-loaded workpiece assembly, the quality of the workpiece itself plus the accumulated joint angle error of the industrial robot result in low final assembly accuracy, which in turn affects production efficiency.

[0004] The invention patent application with the Chinese publication number CN115922746A discloses an industrial robot shaft hole assembly system and an active compliance control method. The system used in the method includes a computer, an industrial robot, a six-dimensional force / torque sensor, shaft parts and a sensor data acquisition box. The industrial robot controls the assembly network based on reinforcement learning, and firstly controls the compliance of the shaft hole assembly insertion stage. Its essence is still an active compliance control algorithm. Although the method can realize high-precision automatic assembly of complex assembly objects, the assembly process does not take into account the safety mechanism of the force sensor, and only has an assembly effect for specific assemblies that meet the force sensor range. For example, if a heavier assembly object is replaced or there is a large force change during the assembly process, the force sensor will exceed the range, the internal decoupling algorithm will fail, and the assembly will not adapt. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to enable an industrial robot to perform safe and accurate assembly under the influence of external forces exceeding the measuring range of a force sensor.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is: a human-machine collaborative active compliance control method for an industrial robot, comprising the following steps:

[0007] Step 1: According to the gravity compensation algorithm and the zero drift compensation algorithm of the six-axis force sensor of the industrial robot, the corresponding relationship between the reading force and reading torque read by the six-axis force sensor of the industrial robot and the actual force and actual torque received by the industrial robot is established, as shown in the following equations (1) and (2):

[0008] (1)

[0009] In formula (1), F represents the actual force received by the relative end of the industrial robot; , and are the x-, y- and z-axis components of F on the industrial robot; is the x-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the x-axis reading force of the six-dimensional force sensor on the industrial robot; is the y-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the y-axis reading force of the six-dimensional force sensor on the industrial robot; is the z-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the z-axis reading force of the six-dimensional force sensor on the industrial robot;

[0010] (2)

[0011] In formula (2), T represents the actual torque on the relative end of the industrial robot; , and are the x-, y- and z-axis torques generated by the industrial robot after being subjected to an actual force of magnitude F; , and are the x-, y- and z-axis torque zero drift values ​​of the six-dimensional force sensor on the industrial robot; X, Y and Z are the coordinate values ​​of the industrial robot body in the Cartesian coordinate system;

[0012] Step 2: Establish the one-dimensional motion admittance control model and one-dimensional rotation admittance control model of the industrial robot, as shown in equations (3) and (4) respectively.

[0013] (3)

[0014] In formula (3), m is the virtual mass of the industrial robot; c is the virtual damping of the relative end of the industrial robot when moving; is the desired acceleration of the opposite end of the industrial robot; is the desired velocity of the relative end of the industrial robot;

[0015] (4)

[0016] In formula (4), is the virtual moment of inertia of the industrial robot; It is the virtual rotation damping of the end of the industrial robot when it rotates; is the desired angular acceleration of the opposite end of the industrial robot; is the desired angular velocity of the relative end of the industrial robot;

[0017] The one-dimensional motion admittance control model and the one-dimensional rotation admittance control model are discretized to obtain a discrete motion control model and a discrete rotation control model, as shown in the following equations (5) and (6):

[0018] (5)

[0019] In formula (5), h is the time step of admittance control of the assembly of the industrial robot; It is the control cycle of an industrial robot to perform one control; is the expected acceleration of the relative end of the industrial robot in time step h; is the actual force exerted on the opposite end of the industrial robot in time step h; is the expected velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected velocity of the relative end of the industrial robot in time step h; is the displacement of the relative end of the industrial robot in time step h;

[0020] (6)

[0021] In formula (6), is the expected angular acceleration of the relative end of the industrial robot in time step h; is the actual torque exerted on the opposite end of the industrial robot in time step h; is the expected angular velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected angular velocity of the relative end of the industrial robot in time step h; is the rotation angle of the relative end of the industrial robot in time step h;

[0022] Step 3: When the relative end of the industrial robot begins to be affected by external force, the relative end of the industrial robot is actively and compliantly controlled through the discrete movement control model and the discrete rotation control model so that the relative end of the industrial robot reaches a specified position.

[0023] Further, the specific process of step 3 is as follows:

[0024] Step 3.1: Initialize the time step h of the discrete movement control model and the discrete rotation control model so that the time step h is equal to 1; set the control cycle of the discrete movement control model and the discrete rotation control model to perform one control ;

[0025] Step 3.2: When the time step h is equal to 1, read the first x-axis reading force displayed on the six-axis force sensor on the industrial robot in real time , first y-axis reading force and the first z-axis reading force , and substitute it into the formulas (1) and (2) to calculate the first actual force received by the relative end of the industrial robot when the time step is equal to 1: and the first actual moment ;

[0026] The first actual force Substitute into the discrete motion control model to calculate the first displacement of the relative end of the industrial robot in the control cycle when the time step h is equal to 1 ;

[0027] If the first actual force Satisfies the following formula (7):

[0028] (7)

[0029] In formula (7), is the maximum range of force readings of the six-axis force sensor; is the safety threshold of the force reading of the six-axis force sensor, which is an empirical value;

[0030] Then the displacement Substitute it into the following formula (8) for correction, and obtain the first corrected displacement of the relative end of the industrial robot in the control period when the time step h is equal to 1: , and the first correction displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ,

[0031] (8)

[0032] In formula (8), is the displacement correction coefficient of the relative end of the industrial robot in the control period when the time step h is equal to 1;

[0033] On the contrary, the first displacement No correction is required; the first displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ;

[0034] The first actual moment Substitute into the discrete rotation control model to calculate the first rotation angle of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ;

[0035] If the first actual torque Satisfies the following formula (9):

[0036] (9)

[0037] In formula (9), is the maximum range of torque readings of the six-axis force sensor; is the safety threshold of the torque reading of the six-axis force sensor, which is an empirical value;

[0038] Then the first rotation angle Substitute it into the following formula (10) for correction, and obtain the first corrected rotation angle of the relative end of the industrial robot in the control period when the time step h is equal to 1: , and the first correction rotation angle As the first rotation control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ,

[0039] (10)

[0040] In formula (10), is the rotation angle correction coefficient of the relative end of the industrial robot in the control period when the time step h is equal to 1;

[0041] On the contrary, the first rotation angle No correction is required, and the first rotation angle As the first rotation control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ;

[0042] Step 3.3: The first movement displacement control value obtained in step 3.2 is and the first rotation control value Substitute into the following equations (11) and (12) to make a judgment:

[0043] (11)

[0044] In formula (11), is the movement closing threshold value of the relative end of the industrial robot, which is an empirical value;

[0045] (12)

[0046] In formula (12), is the rotation closing threshold value of the relative end of the industrial robot, which is an empirical value;

[0047] If any of the formulas (11) and (12) is satisfied, the opposite end of the industrial robot stops moving and rotating within the control cycle in which the time step h is equal to 1, and the time step h is increased by 1 to enter the next control cycle;

[0048] If neither of the formulas (11) and (12) is satisfied, the relative end of the industrial robot moves according to the first movement displacement control value in the control period where the time step h is equal to 1. and the first rotation control value Move and rotate, and increase the time step h by one to enter the next control cycle;

[0049] Step 3.4: Repeat the contents of steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

[0050] Further, the step 3.4 also includes the following steps:

[0051] Repeat steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot. When the distance between the relative end of the industrial robot and the specified position is less than or equal to the movement control threshold When the relative end of the industrial robot is controlled in a refined manner, the specific contents are as follows:

[0052] Step 3.4.1: Define that the distance between the relative end of the industrial robot and the specified position is less than or equal to the movement control threshold When the time step h is equal to k, the value of the time step h is k, and k is a natural number greater than or equal to 1; and the kx-axis reading force displayed by the six-dimensional force sensor when the time step h is equal to k is read in real time. , ky axis reading force and kz axis reading force , and substitute it into formula (1) to calculate the kth actual force on the relative end of the industrial robot during the control period at the time step h equals k:

[0053] The kth actual force Substitute into the discrete motion control model to calculate the kth displacement of the relative end of the industrial robot in the control cycle where the time step h is equal to k ;

[0054] If the kth actual force If formula (7) is satisfied, the kth displacement Substitute it into the following formula (13) for correction, and obtain the kth corrected displacement of the relative end of the industrial robot in the control period where the time step h is equal to k: , and the kth modified displacement As the kth movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to k ,

[0055] (13)

[0056] In formula (13), is the displacement correction coefficient of the relative end of the industrial robot during the control period when the time step h is equal to k;

[0057] On the contrary, the kth displacement No correction is required; the kth displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to k ;

[0058] Step 3.4.2: The industrial robot starts to repeat the contents of step 3.4.1 from the time step h being equal to k, and only performs movement control on the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

[0059] Beneficial effects of the present invention:

[0060] 1) The method used in the present invention is applicable to industrial heavy-load robots, which expands the assembly scenarios of complex and heavy-loaded workpieces, breaks the limitation that industrial heavy-load robots have to reduce their running speed due to concerns about collision risks, improves assembly efficiency and ensures assembly quality;

[0061] 2) The present invention adopts this method to fully consider the range problem of the force sensor and applies it to the admittance control, which effectively ensures the safety of personnel in the process of human-machine collaboration and opens up a new application field for industrial heavy-load robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is a flow chart of the active compliance control method in the first embodiment of the present invention.

[0063] Figure 2 is a flow chart of the active compliance control method in the second embodiment of the present invention. DETAILED DESCRIPTION

[0064] The following is a further description of the human-machine collaborative active compliance control method of an industrial robot according to the present invention in conjunction with the accompanying drawings and specific embodiments.

[0065] Embodiment 1

[0066] The human-machine collaborative active compliance control method of the industrial robot in this embodiment is as follows: Figure 1 As shown, the following steps are included:

[0067] Step 1: According to the gravity compensation algorithm and the zero drift compensation algorithm of the six-axis force sensor of the industrial robot, the corresponding relationship between the reading force and reading torque read by the six-axis force sensor on the industrial robot and the actual force and actual torque received by the industrial robot is established, as shown in the following equations (1) and (2):

[0068] (1)

[0069] In formula (1), F represents the actual force received by the relative end of the industrial robot; , and is the force component of F in the x, y and z axes of the industrial robot; It is the x-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the x-axis reading force of the six-dimensional force sensor on the industrial robot; It is the y-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the y-axis reading force of the six-dimensional force sensor on the industrial robot; It is the z-axis reading force displayed on the six-dimensional force sensor on the industrial robot when the opposite end of the industrial robot is subjected to an external force of magnitude F; It is the zero-point drift value of the z-axis reading force of the six-dimensional force sensor on the industrial robot;

[0070] (2)

[0071] In formula (2), T represents the actual torque on the relative end of the industrial robot; , and It is the x-, y- and z-axis torque generated by the industrial robot after being subjected to the actual force of magnitude F; , and are the x-, y- and z-axis torque zero drift values ​​of the six-dimensional force sensor on the industrial robot; X, Y and Z are the coordinate values ​​of the industrial robot body in the Cartesian coordinate system;

[0072] Step 2: Establish the one-dimensional motion admittance control model and one-dimensional rotation admittance control model of the industrial robot, as shown in equations (3) and (4) respectively.

[0073] (3)

[0074] In formula (3), m is the virtual mass of the industrial robot; c is the virtual damping of the relative end of the industrial robot when moving; is the desired acceleration of the opposite end of the industrial robot; is the desired velocity of the relative end of the industrial robot;

[0075] (4)

[0076] In formula (4), is the virtual moment of inertia of the industrial robot; It is the virtual rotation damping of the end of the industrial robot when it rotates; is the desired angular acceleration of the opposite end of the industrial robot; is the desired angular velocity of the relative end of the industrial robot;

[0077] The one-dimensional motion admittance control model and the one-dimensional rotation admittance control model are discretized to obtain a discrete motion control model and a discrete rotation control model, as shown in the following equations (5) and (6):

[0078] (5)

[0079] In formula (5), h is the time step of admittance control of the assembly of the industrial robot; It is the control cycle of an industrial robot to perform one control; is the expected acceleration of the relative end of the industrial robot in time step h; is the actual force on the opposite end of the industrial robot in time step h; is the expected velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected velocity of the relative end of the industrial robot in time step h; is the displacement of the relative end of the industrial robot in time step h;

[0080] (6)

[0081] In formula (6), is the expected angular acceleration of the relative end of the industrial robot in time step h; is the actual torque on the relative end of the industrial robot in time step h; is the expected angular velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected angular velocity of the relative end of the industrial robot in time step h; is the rotation angle of the relative end of the industrial robot in time step h;

[0082] Step 3: When the relative end of the industrial robot begins to be affected by external force, the relative end of the industrial robot is actively and compliantly controlled through the discrete movement control model and the discrete rotation control model, so that the relative end of the industrial robot reaches the specified position. The specific process is as follows:

[0083] Step 3.1: Initialize the time step h of the discrete motion control model and the discrete rotation control model so that the time step h is equal to 1; set the control cycle of the discrete motion control model and the discrete rotation control model to perform one control ;

[0084] Step 3.2: When the time step h is equal to 1, read the first x-axis reading force displayed on the six-axis force sensor on the industrial robot in real time , first y-axis reading force and the first z-axis reading force , and substitute it into formulas (1) and (2) to calculate the first actual force on the relative end of the industrial robot when the time step is equal to 1: and the first actual moment ;

[0085] The first actual force Substituting into the discrete motion control model, the first displacement of the relative end of the industrial robot in the control cycle with time step h equal to 1 is calculated. ;

[0086] If the first actual force Satisfies the following formula (7):

[0087] (7)

[0088] In formula (7), It is the maximum range of force reading of the six-axis force sensor; is the safety threshold of the force reading of the six-axis force sensor, which is an empirical value;

[0089] Then the displacement Substitute it into the following formula (8) for correction, and get the first corrected displacement of the relative end of the industrial robot in the control cycle when the time step h is equal to 1: , and the first correction displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle with time step h equal to 1 ,

[0090] (8)

[0091] In formula (8), is the displacement correction coefficient of the relative end of the industrial robot in the control period with time step h equal to 1;

[0092] On the contrary, the first displacement No correction is required; shift the first As the first movement displacement control value of the relative end of the industrial robot in the control cycle with time step h equal to 1 ;

[0093] The first actual moment Substitute it into the discrete rotation control model to calculate the first rotation angle of the relative end of the industrial robot in the control cycle with time step h equal to 1 ;

[0094] If the first actual moment Satisfies the following formula (9):

[0095] (9)

[0096] In formula (9), It is the maximum range of torque reading of the six-axis force sensor; is the safety threshold of the torque reading of the six-axis force sensor, which is an empirical value;

[0097] Then the first rotation angle Substitute it into the following formula (10) for correction, and obtain the first corrected rotation angle of the relative end of the industrial robot in the control cycle when the time step h is equal to 1: , and the first correction rotation angle As the first rotation control value of the opposite end of the industrial robot in the control cycle with time step h equal to 1 ,

[0098] (10)

[0099] In formula (10), is the rotation angle correction coefficient of the relative end of the industrial robot in the control cycle with time step h equal to 1;

[0100] On the contrary, the first rotation angle No correction is required, and the first rotation angle As the first rotation control value of the opposite end of the industrial robot in the control cycle with time step h equal to 1 ;

[0101] Step 3.3: Set the first movement displacement control value obtained in step 3.2 and the first rotation control value Substitute into the following equations (11) and (12) to make a judgment:

[0102] (11)

[0103] In formula (11), is the movement closing threshold value of the relative end of the industrial robot, which is an empirical value;

[0104] (12)

[0105] In formula (12), is the rotation closing threshold value of the relative end of the industrial robot, which is an empirical value;

[0106] If any of the formulas (11) and (12) is satisfied, the relative end of the industrial robot stops moving and rotating within the control cycle with the time step h equal to 1, and the time step h is increased by 1 to enter the next control cycle;

[0107] If neither of the formulas (11) and (12) is satisfied, the relative end of the industrial robot moves according to the first movement displacement control value in the control period where the time step h is equal to 1. and the first rotation control value Move and rotate, and increase the time step h by one to enter the next control cycle;

[0108] Step 3.4: Repeat the contents of steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

[0109] Embodiment 2

[0110] The human-machine collaborative active compliance control method of the industrial robot of this embodiment is as follows: Figure 2 As shown, based on the first embodiment, step 4 also includes the following contents:

[0111] Repeat steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot. When the distance between the relative end of the industrial robot and the specified position is less than or equal to the movement control threshold When the robot is in motion, the relative end of the industrial robot is finely controlled. The specific contents are as follows:

[0112] Step 3.4.1: Define the distance between the relative end of the industrial robot and the specified position to be less than or equal to the movement control threshold When the time step h is equal to k, k is a natural number greater than or equal to 1; read the kx-axis reading of the six-dimensional force sensor in real time when the time step h is equal to k. , ky axis reading force and kz axis reading force , and substitute it into formula (1) to calculate the kth actual force on the relative end of the industrial robot during the control cycle when the time step is h equal to k:

[0113] The kth actual force Substituting into the discrete motion control model, we can calculate the kth displacement of the relative end of the industrial robot in the control cycle with time step h equal to k. ;

[0114] If the kth actual force If formula (7) is satisfied, the kth displacement Substitute it into the following formula (13) and make corrections to obtain the kth corrected displacement of the relative end of the industrial robot in the control cycle with time step h equal to k: , and the kth modified displacement As the kth moving displacement control value of the relative end of the industrial robot in the control cycle with time step h equal to k ,

[0115] (13)

[0116] In formula (13), It is the displacement correction coefficient of the relative end of the industrial robot in the control period when the time step h is equal to k;

[0117] On the contrary, the kth displacement No correction is required; shift the kth As the first movement displacement control value of the relative end of the industrial robot in the control cycle with time step h equal to k ;

[0118] Step 3.4.2: The industrial robot starts to repeat the contents of step 3.4.1 from the time step h equals k, and only performs movement control on the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

Claims

1. A human-machine collaborative active compliance control method for an industrial robot, characterized in that: The following steps are involved: Step 1: According to the gravity compensation algorithm and the zero drift compensation algorithm of the six-axis force sensor of the industrial robot, the corresponding relationship between the reading force and reading torque read by the six-axis force sensor of the industrial robot and the actual force and actual torque received by the industrial robot is established, as shown in the following equations (1) and (2): （1） In formula (1), F represents the actual force received by the relative end of the industrial robot; , and are the x-, y- and z-axis components of F on the industrial robot; , , They are respectively the x-axis, y-axis and z-axis readings displayed by the six-dimensional force sensor on the industrial robot when the opposite ends of the industrial robot are subjected to an external force of magnitude F; , , They are the zero-point drift values ​​of the x-axis, y-axis, and z-axis readings of the six-dimensional force sensor on the industrial robot; （2） In formula (2), T represents the actual torque on the relative end of the industrial robot; , and are the x-, y- and z-axis torques generated by the industrial robot after being subjected to an actual force of magnitude F; , and are the x-, y- and z-axis torque zero drift values ​​of the six-dimensional force sensor on the industrial robot; X, Y and Z are the coordinate values ​​of the industrial robot body in the Cartesian coordinate system; Step 2: Establish the one-dimensional motion admittance control model and one-dimensional rotation admittance control model of the industrial robot, as shown in equations (3) and (4) respectively. （3） In formula (3), m is the virtual mass of the industrial robot; c is the virtual damping of the relative end of the industrial robot when moving; is the desired acceleration of the opposite end of the industrial robot; is the desired velocity of the relative end of the industrial robot; （4） In formula (4), is the virtual moment of inertia of the industrial robot; It is the virtual rotation damping of the end of the industrial robot when it rotates; is the desired angular acceleration of the opposite end of the industrial robot; is the desired angular velocity of the relative end of the industrial robot; The one-dimensional motion admittance control model and the one-dimensional rotation admittance control model are discretized to obtain a discrete motion control model and a discrete rotation control model, as shown in the following equations (5) and (6): （5） In formula (5), h is the time step of admittance control of the assembly of the industrial robot; It is the control cycle of an industrial robot to perform one control; is the expected acceleration of the relative end of the industrial robot in time step h; is the actual force exerted on the opposite end of the industrial robot in time step h; is the expected velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected velocity of the relative end of the industrial robot in time step h; is the displacement of the relative end of the industrial robot in time step h; （6） In formula (6), is the expected angular acceleration of the relative end of the industrial robot in time step h; is the actual torque exerted on the opposite end of the industrial robot in time step h; is the expected angular velocity of the relative end of the industrial robot in the previous time step h-1 of time step h; is the expected angular velocity of the relative end of the industrial robot in time step h; is the rotation angle of the relative end of the industrial robot in time step h; Step 3: When the relative end of the industrial robot begins to be affected by external force, the relative end of the industrial robot is actively and compliantly controlled through the discrete movement control model and the discrete rotation control model so that the relative end of the industrial robot reaches a specified position.

2. The human-machine collaborative active compliance control method according to claim 1, characterized in that: The specific process of step 3 is as follows: Step 3.1: Initialize the time step h of the discrete movement control model and the discrete rotation control model so that the time step h is equal to 1; set the control cycle of the discrete movement control model and the discrete rotation control model to perform one control ; Step 3.2: When the time step h is equal to 1, read the first x-axis reading force displayed on the six-axis force sensor on the industrial robot in real time , first y-axis reading force and the first z-axis reading force , and substitute it into the formulas (1) and (2) to calculate the first actual force received by the relative end of the industrial robot when the time step is equal to 1: and the first actual moment ; The first actual force Substitute into the discrete motion control model to calculate the first displacement of the relative end of the industrial robot in the control cycle when the time step h is equal to 1 ; If the first actual force Satisfies the following formula (7): （7） In formula (7), is the maximum range of force readings of the six-axis force sensor; is the safety threshold of the force reading of the six-axis force sensor, which is an empirical value; Then the displacement Substitute it into the following formula (8) for correction, and obtain the first corrected displacement of the relative end of the industrial robot in the control period when the time step h is equal to 1: , and the first correction displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 , （8） In formula (8), is the displacement correction coefficient of the relative end of the industrial robot in the control period when the time step h is equal to 1; On the contrary, the first displacement No correction is required; the first displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ; The first actual moment Substitute into the discrete rotation control model to calculate the first rotation angle of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ; If the first actual moment Satisfies the following formula (9): （9） In formula (9), is the maximum range of torque readings of the six-axis force sensor; is the safety threshold of the torque reading of the six-axis force sensor, which is an empirical value; Then the first rotation angle Substitute it into the following formula (10) for correction, and obtain the first corrected rotation angle of the relative end of the industrial robot in the control period when the time step h is equal to 1: , and the first correction rotation angle As the first rotation control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 , （10） In formula (10), is the rotation angle correction coefficient of the relative end of the industrial robot in the control period when the time step h is equal to 1; On the contrary, the first rotation angle No correction is required, and the first rotation angle As the first rotation control value of the relative end of the industrial robot in the control cycle where the time step h is equal to 1 ; Step 3.3: The first movement displacement control value obtained in step 3.2 is and the first rotation control value Substitute into the following equations (11) and (12) to make a judgment: （11） In formula (11), is the movement closing threshold value of the relative end of the industrial robot, which is an empirical value; （12） In formula (12), is the rotation closing threshold value of the relative end of the industrial robot, which is an empirical value; If any of the formulas (11) and (12) is satisfied, the opposite end of the industrial robot stops moving and rotating within the control cycle in which the time step h is equal to 1, and the time step h is increased by 1 to enter the next control cycle; If neither of the formulas (11) and (12) is satisfied, the relative end of the industrial robot moves according to the first movement displacement control value in the control period where the time step h is equal to 1. and the first rotation control value Move and rotate, and increase the time step h by one to enter the next control cycle; Step 3.4: Repeat the contents of steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

3. The human-machine collaborative active compliance control method according to claim 2, characterized in that: The step 3.4 also includes the following steps: Repeat steps 3.2 to 3.3 to control the movement and rotation of the relative end of the industrial robot. When the distance between the relative end of the industrial robot and the specified position is less than or equal to the movement control threshold When the relative end of the industrial robot is controlled in a refined manner, the specific contents are as follows: Step 3.4.1: Define that the distance between the relative end of the industrial robot and the specified position is less than or equal to the movement control threshold When the time step h is equal to k, the value of the time step h is k, and k is a natural number greater than or equal to 1; and the kx-axis reading force displayed by the six-dimensional force sensor when the time step h is equal to k is read in real time. , ky axis reading force and kz axis reading force , and substitute it into formula (1) to calculate the kth actual force on the relative end of the industrial robot during the control period at the time step h equals k: The kth actual force Substitute into the discrete motion control model to calculate the kth displacement of the relative end of the industrial robot in the control cycle where the time step h is equal to k ; If the kth actual force If formula (7) is satisfied, the kth displacement Substitute it into the following formula (13) for correction, and obtain the kth corrected displacement of the relative end of the industrial robot in the control period where the time step h is equal to k: , and the kth modified displacement As the kth movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to k , （13） In formula (13), is the displacement correction coefficient of the relative end of the industrial robot during the control period when the time step h is equal to k; On the contrary, the kth displacement No correction is required; the kth displacement As the first movement displacement control value of the relative end of the industrial robot in the control cycle where the time step h is equal to k ; Step 3.4.2: The industrial robot starts to repeat the contents of step 3.4.1 from the time step h being equal to k, and only performs movement control on the relative end of the industrial robot until the relative end of the industrial robot reaches the specified position.

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