Joint control method and device, joint structure and storage medium

Abstract

The invention provides a joint control method which comprises the following steps: acquiring load information of an actuator, and determining position input information of a first driving chain and position input information of a second driving chain according to the load information; the position input information of the first driving chain is compensated according to # imgabs0 #, the position input information of the second driving chain is compensated according to # imgabs1 #, and f (theta) is the mapping relation between the rotation angle and the back clearance value established according to f1 (theta) and f2 (theta); and controlling the first driving chain and the second driving chain to execute according to the compensated position input information. A compensation value can be determined according to the corresponding rotation angle, the target angular displacement is compensated, and rotation is controlled based on the compensated position input information. And the joint structure can rotate to the target position, so that the control precision of the joint structure is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a joint control method, device, joint structure and storage medium. Background Art

[0002] In industrial production, industrial robots have been widely used to complete high-load, repetitive tasks and improve industrial production efficiency. With the continuous iteration of industrial technology, various complex industrial processing tasks can be achieved by relying on the power and control capabilities of industrial robots.

[0003] In the prior art, as the workload increases, the joints of industrial robots need to be driven by multiple drive chains at the same time. However, multiple drive chains are affected by normal wear and tear and assembly processes, which cause joint backlash. Joint backlash is the main factor affecting the positioning accuracy of robots. This makes it difficult for multiple drive chains to drive the joint structure normally. Summary of the invention

[0004] The present application proposes a joint control method, device, joint structure and storage medium to at least partially solve the above technical problems.

[0005] In a first aspect, the present application proposes a joint control method, which is applied to a joint structure, wherein the joint structure includes an actuator, a first drive chain, and a second drive chain, wherein the first drive chain includes a first motor and a first reducer, wherein the first motor is transmission-connected to the first reducer, wherein the first reducer is transmission-connected to the actuator and used to drive the actuator to rotate, and wherein the second drive chain includes a second motor and a second reducer, wherein the second motor is transmission-connected to the second reducer, wherein the second reducer is transmission-connected to the actuator and used to drive the actuator to rotate;

[0006] Methods include:

[0007] Acquire load information of the actuator, and determine position input information of the first drive chain and position input information of the second drive chain according to the load information;

[0008] Input the position information of the first drive train according to To compensate, the position input information of the second drive chain is Compensation is performed, wherein f(θ) is a mapping relationship between the rotation angle and the backlash value established according to f1(θ) and f2(θ), f1(θ) is a first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in a closed state; f2(θ) is a second backlash value of the joint structure at different rotation angles obtained when the first drive chain is in a closed state;

[0009] The first drive chain and the second drive chain are controlled to be executed according to the compensated position input information.

[0010] In one embodiment, before obtaining the load information of the actuator, the method further includes:

[0011] Establish the mapping relationship between the rotation angle and the backlash value.

[0012] In one implementation, establishing a mapping relationship between a rotation angle and a backlash value includes:

[0013] When the second drive chain is in the closed state, the backlash value f1(θ) of the first reducer at different rotation angles is obtained. When the first drive chain is in the closed state, the backlash value f2(θ) of the second reducer at different rotation angles is obtained. A mapping relationship between the rotation angle and the backlash value is established based on f1(θ) and f2(θ).

[0014] In one implementation, a mapping relationship between a rotation angle and a backlash value is established according to f1(θ) and f2(θ), including:

[0015] At different rotation angles, determine According to the obtained f(θ) values ​​at different rotation angles, fitting is performed to obtain the mapping relationship between the rotation angle and the backlash value.

[0016] In one implementation, when the second drive chain is in a closed state, obtaining the backlash value f1(θ) of the first reducer at different rotation angles includes:

[0017] When the second drive chain is in the closed state, when the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the first reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained, and ΔS is determined as the first backlash value f1(θ) of the joint structure at this rotation angle.

[0018] In one implementation, when the second drive chain is in a closed state, obtaining the backlash value f2(θ) of the second reducer at different rotation angles includes:

[0019] When the first drive chain is in the closed state, when the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the second reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained, and ΔS is determined as the second backlash value f2(θ) of the joint structure at this rotation angle.

[0020] In one embodiment, the method further includes updating the mapping relationship between the rotation angle and the backlash value at predetermined time intervals.

[0021] In one embodiment, controlling the first drive chain and the second drive chain to execute according to the compensated position input information includes:

[0022] Determine the angular displacement, speed and current of the first drive chain after compensation, and the angular displacement, speed and current of the second drive chain after compensation according to the compensated position input information;

[0023] The first drive chain is controlled to output according to the compensated angular displacement, speed and current, and the second drive chain is controlled to output according to the compensated angular displacement, speed and current.

[0024] In one embodiment, 0<C≤1.2.

[0025] In a second aspect, the present application proposes a joint control device, which is applied to a joint structure, wherein the joint structure includes an actuator, a first drive chain, and a second drive chain, wherein the first drive chain includes a first motor and a first reducer, wherein the first motor is transmission-connected to the first reducer, wherein the first reducer is transmission-connected to the actuator, and is used to drive the actuator to rotate, and wherein the second drive chain includes a second motor and a second reducer, wherein the second motor is transmission-connected to the second reducer, wherein the second reducer is transmission-connected to the actuator, and is used to drive the actuator to rotate;

[0026] The device includes:

[0027] An acquisition module, used for acquiring load information of the actuator, and determining position input information of the first drive chain and position input information of the second drive chain according to the load information;

[0028] The compensation module is used to adjust the position input information of the first drive chain according to To compensate, the position input information of the second drive chain is Compensation is performed, wherein f(θ) is a mapping relationship between the rotation angle and the backlash value established according to f1(θ) and f2(θ), f1(θ) is a first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in a closed state; f2(θ) is a second backlash value of the joint structure at different rotation angles obtained when the first drive chain is in a closed state;

[0029] The execution module is used to control the first drive chain and the second drive chain to execute according to the compensated position input information.

[0030] In a third aspect, the present application proposes a joint structure, comprising:

[0031] Actuator;

[0032] A first drive chain, the first drive chain includes a first motor and a first reducer, the first motor is drivingly connected to the first reducer, the first reducer is drivingly connected to the actuator, and is used to drive the actuator to rotate;

[0033] A second drive chain, the second drive chain includes a second motor and a second reducer, the second motor is drivingly connected to the second reducer, the second reducer is drivingly connected to the actuator, and is used to drive the actuator to rotate;

[0034] a processor, the first motor and the second motor being electrically connected to the processor; and

[0035] A memory is coupled to the processor; the memory stores instructions, and when the instructions are executed by the processor, the processor executes the method of the first aspect as described above.

[0036] In a fourth aspect, the present application proposes a computer-readable storage medium, in which a program code is stored. The program code can be called by a processor to execute the method of the first aspect as described above.

[0037] The joint control method provided by the present application can determine the compensation value according to the corresponding rotation angle when the first drive chain and the second drive chain drive the actuator independently or simultaneously, and compensate the target angular displacement, and control the rotation based on the compensated position input information, so as to ensure that the joint structure can rotate to the target position, thereby ensuring the control accuracy of the joint structure.

[0038] The joint structure provided by the present application uses the above-mentioned joint control method. When the first drive chain and the second drive chain drive the actuator independently or simultaneously, the compensation value can be determined according to the corresponding rotation angle, the target angular displacement can be compensated, and the rotation can be controlled based on the compensated position input information. The working accuracy of the first drive chain and the second drive chain is guaranteed so that the joint structure can rotate to the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A structural schematic diagram of a joint structure provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a flow chart of a joint control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic flow chart of another joint control method provided in an embodiment of the present application;

[0043] Figure 4A schematic diagram of a process for establishing a mapping relationship between a rotation angle and a backlash value provided in an embodiment of the present application;

[0044] Figure 5 A schematic flow chart of yet another joint control method provided in an embodiment of the present application;

[0045] Figure 6 A structural block diagram of a joint control device provided in an embodiment of the present application;

[0046] Figure 7 A structural block diagram of a joint structure provided in an embodiment of the present application;

[0047] Figure 8 A structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0049] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0050] The present application provides a joint structure 50, see Figure 1 The joint structure 50 includes an actuator 51 and a base 54. The actuator 51 and the base 54 are rotated to drive the actuator 51 to reach the target position, thereby ensuring that the joint structure 50 completes the work task. Exemplarily, the joint structure 50 is used to transport goods. The actuator 51 is driven to rotate, and the free end of the actuator 51 reaches the specified position, which facilitates the subsequent actuator 51 to absorb the goods for movement. In another embodiment, the joint structure 50 may also include an arm body, etc., which can drive the actuator 51 to rotate relative to the arm body to meet different implementation scenarios.

[0051] Specifically, as the tasks of the actuator 51 become more abundant, the load will also increase. In order to ensure the load capacity of the joint structure 50, the joint structure 50 may include an actuator 51, a first drive chain 52 and a second drive chain 53, and the first drive chain 52 and the second drive chain 53 are connected to one end of the actuator 51. And under the drive of the first drive chain 52 and / or the second drive chain 53, the actuator 51 can rotate relatively. Under low load conditions, one of the first drive chain 52 and the second drive chain 53 can be used to independently drive the actuator 51 to rotate, saving energy. Under high load conditions, the first drive chain 52 and the second drive chain 53 can be used to simultaneously drive the actuator 51 to rotate, ensuring the load capacity of the joint structure 50. Different driving modes can be realized to ensure the load amount and energy consumption ratio of the joint structure 50. Different driving modes are provided to meet the different load conditions of the actuator 51 and improve the load capacity and energy consumption ratio of the joint structure 50.

[0052] In one implementation, the actuator 51 may be a movable rod, a welding gun, a suction cup, etc., which is not limited in this embodiment.

[0053] In one embodiment, the joint structure 50 may further include an arm body, a base 54, etc., and the first drive chain 52 and the second drive chain 53 may be disposed in the base 54 to drive the actuator 51 to rotate relative to the arm body or the base 54. Exemplarily, the first drive chain 52 and the second drive chain 53 are disposed in the arm body, and the actuator 51 may be a movable rod, and the first drive chain 52 and the second drive chain 53 are transmission-connected to one end of the actuator 51. Driven by the first drive chain 52 and / or the second drive chain 53, the actuator 51 can rotate relative to the arm body to achieve a specific work task.

[0054] The first drive chain 52 includes a first motor 521 and a first reducer 522. The first motor 521 is connected to the first reducer 522 in a transmission manner. The first reducer 522 is connected to the actuator 51 in a transmission manner and is used to drive the actuator 51 to rotate. The first reducer 522 includes a first input end and a first output end. The output shaft of the first motor 521 can be connected to the first input end by means of belt transmission or gear transmission. Belt transmission has the characteristics of smooth transmission, buffering and vibration absorption, overload protection, etc., and gear transmission has the characteristics of accurate transmission, high efficiency, compact structure, etc. This embodiment is not limited and can be selected according to specific transmission requirements and usage scenarios. The first output end is connected to the actuator 51, and when the first motor 521 drives the first reducer 522, the first reducer 522 drives the actuator 51 to rotate. Among them, the rotation axis of the actuator 51 can be the axis of the first output end. In addition, the transmission ratio between the first motor 521 and the first input end and the reduction ratio of the first reducer 522 itself can be adjusted to achieve a larger reduction ratio, so that the actuator 51 can rotate more smoothly and improve the load capacity of the actuator 51.

[0055] In a more specific embodiment, the first motor 521 and the first reducer 522 are both driven by a belt. According to different transmission ratio requirements, the first motor 521 and the first reducer 522 are connected to hubs of different sizes, and are connected and driven by the hubs. When the transmission ratio between the first motor 521 and the first reducer 522 is greater than 1, the first drive chain 52 can reduce the speed by belt transmission. In addition, the first reducer 522 can be built with one or more gear sets, which can be used for transmission between the first output end and the first input end. The transmission ratio of one or more gear sets can be greater than 1. After the gear set transmission, the speed of the first drive chain 52 is further reduced and the torque is increased to meet the use requirements of the joint structure 50. The transmission ratios of the two-stage transmission are multiplied to obtain the overall transmission ratio of the first drive chain 52, and then the overall transmission ratio of the first drive chain 52 is greater than 1. When the transmission is transmitted to the actuator 51, two-stage reduction has been performed through the first drive chain 52. The two-stage reduction structure can not only ensure that the internal volume is not affected too much, but also achieve a sufficient reduction ratio.

[0056] The second drive chain 53 includes a second motor 531 and a second reducer 532. The second motor 531 is connected to the second reducer 532 in a transmission manner. The second reducer 532 can be connected to the end of the actuator 51 away from the first reducer 522 in a transmission manner and is used to drive the actuator 51 to rotate. The second reducer 532 includes a second input end and a second output end. The output shaft of the second motor 531 can be connected to the second input end by belt transmission or gear transmission. This embodiment is not limited and can be selected according to specific transmission requirements and usage scenarios. The second output end is connected to the actuator 51, and when the second motor 531 drives the second reducer 532, the second reducer 532 drives the actuator 51 to rotate. Among them, the rotation axis of the actuator 51 can be the axis of the second output end. In addition, the transmission ratio of the second motor 531 to the second input end and the reduction ratio of the second reducer 532 itself can be adjusted to achieve a larger reduction ratio, so that the actuator 51 can rotate more smoothly and improve the load capacity of the actuator 51.

[0057] In a more specific embodiment, the second motor 531 and the second reducer 532 are both driven by a belt. According to different transmission ratio requirements, the second motor 531 and the second reducer 532 are connected to hubs of different sizes, and are connected and driven by the hubs. And when the transmission ratio between the second motor 531 and the second reducer 532 is greater than 1, the second drive chain 53 can reduce the speed by belt transmission. In addition, the second reducer 532 can be built with one or more gear sets, which can be used for transmission between the first output end and the first input end. The transmission ratio of one or more gear sets can be greater than 1. After the gear set transmission, the speed of the second drive chain 53 is further reduced and the torque is increased to meet the use requirements of the joint structure 50. The transmission ratios of the two-stage transmission are multiplied to obtain the overall transmission ratio of the second drive chain 53, and then the overall transmission ratio of the second drive chain 53 is greater than 1. When the transmission is transmitted to the actuator 51, two-stage reduction has been performed through the second drive chain 53. The two-stage reduction structure can not only ensure that the internal volume is not affected too much, but also achieve a sufficient reduction ratio.

[0058] In one embodiment, the first motor 521 and the second motor 531 can both adopt servo motors, etc. The servo motors include a position loop, a speed loop and a current loop. The position loop is used to receive the set target position and compare it with the actual position of the motor, and use its deviation to generate the speed command of the motor through the position regulator. The speed loop is used to receive the position command and feedback information, and calculate the speed of the control motor, thereby controlling the angular displacement of the motor. The current loop is responsible for receiving the output of the speed loop and calculating the required current value to drive the motor to generate the corresponding torque. Furthermore, the speed, torque and position of the first motor 521 and the second motor 531 can be adjusted and set.

[0059] In this embodiment, the first drive chain 52 and the second drive chain 53 can drive the actuator 51 to rotate independently or simultaneously. Relatively speaking, the first drive chain 52 and the second drive chain 53 drive the actuator 51 simultaneously, which can have a larger torque and thus can carry more load. Preferably, the axis of the first output end and the axis of the second output end can be collinear, and when the first drive chain 52 and the second drive chain 53 drive the actuator 51 simultaneously, it can ensure that the rotation axes of the two ends of the actuator 51 are the same, and the rotation direction of the actuator 51 is ensured.

[0060] The joint structure 50 provided in the present application can use one of the first drive chain 52 and the second drive chain 53 to independently drive the actuator 51 to rotate under low load conditions to save energy. Under high load conditions, the first drive chain 52 and the second drive chain 53 can be used to simultaneously drive the actuator 51 to rotate to ensure the load capacity of the joint structure 50. Different drive modes can be realized to ensure the load capacity and energy consumption ratio of the joint structure 50.

[0061] See also Figure 2This embodiment also provides a joint control method, which can be applied to the aforementioned joint structure. The joint control method includes the following steps S110-S130:

[0062] Step S110: Obtain load information of the actuator, and determine position input information of the first drive chain and position input information of the second drive chain according to the load information.

[0063] When the user inputs a control instruction, the control instruction may include load information of the actuator, including but not limited to target position information and rotation angle of the actuator. The current position information may be the current position of the actuator, the target position information may be the position to which the actuator needs to move, and the rotation angle may be the angle information required for the actuator to rotate from the current position to the target position.

[0064] In one implementation, a sensor built into the joint structure may also acquire current position information of the actuator.

[0065] The first drive chain position input information refers to the rotation angle of the first drive chain during the process of rotating the actuator from the current position to the target position, and the second drive chain position input information refers to the rotation angle of the second drive chain during the process of rotating the actuator from the current position to the target position. Exemplarily, the actuator needs to rotate 1 rad, and according to the conversion relationship between the actuator and the first drive chain, the first motor needs to rotate 5 rad. The first drive chain position input information can be used to control the first motor to rotate 5 rad. Alternatively, the actuator needs to rotate 1 rad, and according to the conversion relationship between the actuator and the second drive chain, the second motor needs to rotate 10 rad. The second drive chain position input information can be used to control the second motor to rotate 10 rad.

[0066] Furthermore, when the first drive chain and the second drive chain both drive the actuator to rotate simultaneously, the first drive chain and the second drive chain can be converted correspondingly according to their respective corresponding conversion relationships to obtain position input information.

[0067] Step S120: Input the position information of the first drive chain according to To compensate, the position input information of the second drive chain is Make compensation.

[0068] The position input information of the first drive chain may include the rotation angle θ of the first motor. Among them, a certain position within the maximum rotation range of the first drive chain is the initial position, and the rotation angle θ of the first motor may be the angle between the current position and the initial position. It is understandable that since the first motor has a built-in position sensor, the rotation angle of the first motor can be more convenient for feedback or control, so the rotation angle θ of the first motor is adopted. The position input information of the first drive chain may also include the rotation angle of the first reducer or actuator, or according to the rotation angle relationship between the three, the rotation angle θ of the first motor is obtained by conversion.

[0069] According to the rotation angle θ of the first drive chain, the compensation value of the rotation angle θ is obtained as The compensation value Adding the rotational angular displacement L1, the rotational angular displacement required for the first drive chain after compensation is The rotational angular displacement L1 may be the angular displacement of the first motor rotating to the target position, and the rotational angular displacement L1 may be input by a user or converted by the first drive chain according to the target position information. In some other embodiments, the rotational angle θ may be the rotational angle of the first reducer or actuator, and the rotational angular displacement L1 may also be correspondingly set or converted to the angular displacement of the first reducer or actuator rotating to the target position, so as to ensure the uniformity of the drive data of the first drive chain.

[0070] The position input information of the second drive chain may include the rotation angle θ of the second motor, and the rotation angular displacement of the first drive chain is the angular displacement required to rotate the actuator from the current position to the target position. Among them, a certain position within the maximum rotation range of the first drive chain is the initial position, and the rotation angle θ of the second motor may be the angle between the current position and the initial position. It is understandable that because the second motor has a built-in position sensor, the rotation angle of the second motor can be more convenient for feedback or control, so the rotation angle θ of the second motor is adopted. The position input information of the second drive chain may also include the rotation angle of the second reducer or actuator, or according to the rotation angle relationship between the three, the rotation angle θ of the second motor is converted to obtain the rotation angle θ of the second motor.

[0071] According to the rotation angle θ of the second drive chain, the compensation value of the rotation angle θ is This compensation value is opposite to the compensation value of the first drive chain. Adding the rotational angular displacement L2, the rotational angular displacement required for the second drive chain after compensation is The rotational angular displacement L2 may be the angular displacement of the second motor rotating to the target position, and the rotational angular displacement L2 may be input by the user or converted by the second drive chain according to the target position information. In some other embodiments, the rotational angle θ may be the rotational angle of the second reducer or actuator, and the rotational angular displacement L1 may also be correspondingly set or converted to the angular displacement of the second reducer or actuator rotating to the target position, so as to ensure the uniformity of the drive data of the second drive chain.

[0072] Wherein, C is a constant determined by the joint structure during the debugging process. In some embodiments, 0<C≤1.2, the precision of the joint structure and the energy consumption ratio are the most important basis for selecting C, but the corresponding relationship between the size of C and the precision and energy consumption ratio needs to be selected in combination with the specific joint structure, usage scenario, etc., and this embodiment does not limit it.

[0073] Furthermore, both the first drive chain and the second drive chain are used to drive the actuator, and the position angle θ of the first drive chain and the second drive chain can be the same. In other words, when only the first drive chain drives the actuator, the actuator will drive the second drive chain to rotate, and the rotation angle is the same as the rotation angle of the first drive chain.

[0074] Among them, f1(θ) is the first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in the closed state. When the second drive chain is in the closed state, the second motor is locked with a brake. In the brake state, the output shaft of the second motor can be mechanically prevented from rotating, so that the second motor cannot rotate in the brake state. When the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the first reducer driven by the first torque and the displacement value S2 driven by the second torque is obtained. The first torque and the second torque can be the same in magnitude and different in direction. For example, the first torque and the second torque can be 1 / n of the rated torque of the first motor or the second motor, and n can be 1, 2, 3, 4...

[0075] Specifically, the second motor is braked, the first motor is at the measuring position, and the angle between the measuring position and the initial position is θ. The first motor is powered on to provide the first torque to the first reducer. The first reducer rotates to a certain position driven by the first torque. The difference between the position and the measuring position is the displacement value S1. Due to the locking of the second motor brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate. The first motor is controlled to provide the second torque to the first reducer. The first reducer rotates to another position driven by the second torque. The difference between the position and the measuring position is the displacement value S2. Due to the locking of the second motor brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate.

[0076] The displacement value S1 measured under the first torque drive and the displacement value S2 measured under the second torque drive are compared to obtain a displacement difference ΔS. ΔS is determined as the backlash value f1 (θ) of the joint structure at the rotation angle.

[0077] The cycle is repeated to measure the displacement difference ΔS and the rotation angle θ at multiple positions, and the second backlash value f1(θ) of the joint structure at different rotation angles is obtained.

[0078] f2(θ) is the second backlash value of the joint structure at different rotation angles when the first drive chain is in the closed state. When the first drive chain is in the closed state, the first motor is locked with a brake. In the brake state, the output shaft of the first motor can be mechanically prevented from rotating, so that the first motor cannot rotate in the brake state. When the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the second reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained.

[0079] Specifically, the first motor is braked, and the second motor is at the measuring position, and the angle between the measuring position and the initial position is θ. The second motor is powered on to provide the first torque to the second reducer. The second reducer rotates to a certain position driven by the first torque. The difference between this position and the measuring position is the displacement value S1. Due to the locking of the first motor brake, the actuator and the first reducer cannot rotate, so that the second reducer cannot continue to rotate. The second motor is controlled to provide the second torque to the second reducer. The second reducer rotates to another position driven by the second torque. The difference between this position and the measuring position is the displacement value S2. Due to the locking of the first motor brake, the actuator and the first reducer cannot rotate, so that the second reducer cannot continue to rotate.

[0080] The displacement value S1 measured under the first torque drive and the displacement value S2 measured under the second torque drive are compared to obtain a displacement difference ΔS. ΔS is determined as the backlash value f2 (θ) of the joint structure at the rotation angle.

[0081] The cycle is repeated to measure the displacement difference ΔS and the rotation angle θ at multiple positions, and the second backlash value f2(θ) of the joint structure at different rotation angles is obtained.

[0082] It can be understood that the backlash value of the joint structure at different rotation angles can be the sum of the backlash values ​​of the first reducer and the second reducer. In this embodiment, the first backlash value f1(θ) and the second backlash value f2(θ) are both the sum of the backlash values ​​of the first reducer and the second reducer. The backlash value f(θ) is determined based on the mapping relationship between the rotation angle and the backlash value established by the first backlash value f1(θ) and the second backlash value f2(θ). The average value of the first backlash value f1(θ) and the second backlash value f2(θ) may be the backlash value of the rotation angle of the joint structure. By measuring different drive chains, more backlash data may be obtained to make subsequent compensation more accurate.

[0083] In one embodiment, fitting can also be performed based on the f(θ) obtained at different rotation angles to obtain a mapping relationship between the rotation angle and the backlash value. In one embodiment, after obtaining the backlash value f(θ) at different rotation angles θ, a suitable interpolation algorithm is selected for data fitting. When selecting an interpolation algorithm, it is necessary to consider the distribution characteristics of the data and the accuracy requirements of the fitting. The selected interpolation algorithm is executed to perform interpolation calculations on the data. The mapping relationship between the rotation angle and the backlash value is calculated by an interpolation algorithm based on the collected rotation angle θ and backlash value f(θ).

[0084] Step S130: controlling the first drive chain and the second drive chain to execute according to the compensated position input information.

[0085] The position input information of the first drive chain may further include a rotational angular displacement L1 , where the rotational angular displacement of the first drive chain is an angular displacement required to rotate the actuator from a current position to a target position.

[0086] The compensation value of the current position angle θ is obtained The compensation value Adding the rotational angular displacement L1, the rotational angular displacement required for the first drive chain after compensation is The compensated position input information is transmitted to the first motor, and the position input information is used to define the target position of the first motor. The position loop of the first motor is rotated by the angular displacement The signal is used to calculate and control the torque or current output by the first motor to drive the first motor to move to the target position. This enables the first drive chain to drive the actuator to the target position more accurately, thereby ensuring the working accuracy of the joint structure.

[0087] The position input information of the second drive chain may further include a rotational angular displacement L2, where the rotational angular displacement of the second drive chain is an angular displacement required to rotate the actuator from a current position to a target position.

[0088] The compensation value of the current position angle θ is obtained The compensation value Adding the rotational angular displacement L2, the rotational angular displacement required for the second drive chain after compensation is The compensated position input information is transmitted to the second motor, and the position input information is used to define the target position of the second motor. The position loop of the second motor is rotated by the angular displacement The signal is used to calculate and control the torque or current output by the second motor to drive the second motor to move to the target position. This enables the second drive chain to drive the actuator to the target position more accurately, ensuring the working accuracy of the joint structure.

[0089] The control method provided by the present application can determine the compensation value according to the corresponding rotation angle and compensate the target angular displacement when the first drive chain and the second drive chain drive the actuator independently or simultaneously. The rotation is controlled based on the compensated position input information. It is ensured that the joint structure can rotate to the target position, thereby ensuring the accuracy of the joint structure.

[0090] Based on the above joint control method, the present application embodiment also provides another joint control method, see Figure 3 , Figure 3 The flowchart of the joint control method of this embodiment is shown, and the joint control method may include the following steps S210-S230. It should be understood that in the joint control method of this embodiment, there are the same or corresponding implementation steps as those in the above embodiment, and the specific description of these same or corresponding implementation steps can refer to the contents provided in the above embodiment, and this embodiment will not be repeated.

[0091] Step S210: establishing a mapping relationship between the rotation angle and the backlash value.

[0092] When the second drive chain is in the closed state, the first backlash value f1(θ) of the joint structure at different rotation angles is obtained. The displacement difference ΔS of the rotation angle of the joint structure under the action of the first torque and the second torque of the first drive chain is the first backlash value f1(θ).

[0093] When the first drive chain is in the closed state, the second backlash value f2(θ) of the joint structure at different rotation angles is obtained. The displacement difference ΔS of the rotation angle of the joint structure under the action of the first torque and the second torque of the first drive chain is the first backlash value f1(θ).

[0094] The backlash value f(θ) of the joint structure is obtained by converting the first backlash value f1(θ) and the second backlash value f2(θ). Fitting is performed based on the f(θ) obtained at different rotation angles to obtain the mapping relationship between the rotation angle and the backlash value.

[0095] For a more specific implementation, see Figure 4 The mapping relationship between the rotation angle and the backlash value can be established by following the steps S211 to S213:

[0096] Step S211: When the second drive chain is in the closed state, when the actuator rotates to different angles, obtain the difference ΔS between the displacement value S1 of the first reducer under the first torque drive and the displacement value S2 under the second torque drive, and determine ΔS as the backlash value f1(θ) of the joint structure at the rotation angle.

[0097] f1(θ) is the first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in the closed state. When the second drive chain is in the closed state, the second motor is locked with a brake. In the brake state, the output shaft of the second motor can be mechanically prevented from rotating, so that the second motor cannot rotate in the brake state. When the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the first reducer driven by the first torque and the displacement value S2 driven by the second torque is obtained. The first torque and the second torque can be the same in magnitude but different in direction. For example, the first torque and the second torque can be 1 / n of the rated torque of the first motor or the second motor, and n can be 1, 2, 3, 4...

[0098] Specifically, the second motor is braked, the first motor is at the measuring position, and the angle between the measuring position and the initial position is θ. The first motor is powered on to provide the first torque to the first reducer. The first reducer rotates to a certain position driven by the first torque. The difference between the position and the measuring position is the displacement value S1. Due to the locking of the second motor brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate. The first motor is controlled to provide the second torque to the first reducer. The first reducer rotates to another position driven by the second torque. The difference between the position and the measuring position is the displacement value S2. Due to the locking of the second motor brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate.

[0099] The displacement value S1 measured under the first torque drive and the displacement value S2 measured under the second torque drive are compared to obtain a displacement difference ΔS. ΔS is determined as the backlash value f1 (θ) of the joint structure at the rotation angle.

[0100] The cycle is repeated to measure the displacement difference ΔS and the rotation angle θ at multiple positions, and the second backlash value f1(θ) of the joint structure at different rotation angles is obtained.

[0101] Step S212: When the first drive chain is in a closed state, when the actuator rotates to different angles, obtain the difference ΔS between the displacement value S1 of the second reducer under the first torque drive and the displacement value S2 under the second torque drive, and determine ΔS as the backlash value f2(θ) of the joint structure at the rotation angle.

[0102] f2(θ) is the second backlash value of the joint structure at different rotation angles when the first drive chain is in the closed state. When the first drive chain is in the closed state, the first motor is locked with a brake. In the brake state, the output shaft of the first motor can be mechanically prevented from rotating, so that the first motor cannot rotate in the brake state. When the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the second reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained.

[0103] Specifically, the first motor is braked, and the second motor is at the measuring position, and the angle between the measuring position and the initial position is θ. The second motor is powered on to provide the first torque to the second reducer. The second reducer rotates to a certain position driven by the first torque. The difference between this position and the measuring position is the displacement value S1. Due to the locking of the first motor brake, the actuator and the first reducer cannot rotate, so that the second reducer cannot continue to rotate. The second motor is controlled to provide the second torque to the second reducer. The second reducer rotates to another position driven by the second torque. The difference between this position and the measuring position is the displacement value S2. Due to the locking of the first motor brake, the actuator and the first reducer cannot rotate, so that the second reducer cannot continue to rotate.

[0104] The displacement value S1 measured under the first torque drive and the displacement value S2 measured under the second torque drive are compared to obtain a displacement difference ΔS. ΔS is determined as the backlash value f2 (θ) of the joint structure at the rotation angle.

[0105] The cycle is repeated to measure the displacement difference ΔS and the rotation angle θ at multiple positions, and the second backlash value f2(θ) of the joint structure at different rotation angles is obtained.

[0106] Step S213: Determine at different rotation angles According to the obtained f(θ) values ​​at different rotation angles, fitting is performed to obtain the mapping relationship between the rotation angle and the backlash value.

[0107] It can be understood that the backlash value of the joint structure at different rotation angles can be the sum of the backlash values ​​of the first reducer and the second reducer. In this embodiment, the first backlash value f1(θ) and the second backlash value f2(θ) are both the sum of the backlash values ​​of the first reducer and the second reducer. The backlash value f(θ) is determined based on the mapping relationship between the rotation angle and the backlash value established by the first backlash value f1(θ) and the second backlash value f2(θ). The average value of the first backlash value f1(θ) and the second backlash value f2(θ) may be the backlash value of the rotation angle of the joint structure. By measuring different drive chains, more backlash data may be obtained to make subsequent compensation more accurate.

[0108] In one embodiment, fitting can also be performed based on the f(θ) obtained at different rotation angles to obtain a mapping relationship between the rotation angle and the backlash value. In one embodiment, after obtaining the backlash value f(θ) at different rotation angles θ, a suitable interpolation algorithm is selected for data fitting. When selecting an interpolation algorithm, it is necessary to consider the distribution characteristics of the data and the accuracy requirements of the fitting. The selected interpolation algorithm is executed to perform interpolation calculations on the data. The mapping relationship between the rotation angle and the backlash value is calculated by an interpolation algorithm based on the collected rotation angle θ and backlash value f(θ).

[0109] Step S220: acquiring load information of the actuator, and determining position input information of the first drive chain and position input information of the second drive chain according to the load information;

[0110] Step S230: Input the position information of the first drive chain according to To compensate, the position input information of the second drive chain is Make compensation.

[0111] Step S240: controlling the first drive chain and the second drive chain to execute according to the compensated position input information.

[0112] It is understandable that the backlash values ​​of the first drive chain and the second drive chain will change with the accumulated working years. For example, the longer the working years, the more serious the wear of the first drive chain and the second drive chain, and the backlash value will also increase accordingly. The control method provided in the present application may also include updating the mapping relationship between the rotation angle and the backlash value at predetermined intervals. The predetermined duration may be one quarter, half a year, or one year, etc., and may be selected according to specific accuracy requirements and implementation scenarios, etc., and this embodiment is not limited. The mapping relationship between the rotation angle of the first drive chain and the second drive chain and the backlash value can be measured regularly, and the mapping relationship obtained after the measurement is transmitted to the first drive chain and the second drive chain, thereby ensuring the accuracy of the control method.

[0113] Preferably, as the service life increases, the internal wear of the first drive chain and the second drive chain gradually increases, and the first drive chain and the second drive chain will experience material fatigue due to stress concentration, which leads to faster wear and faster increase in backlash value. The predetermined time in the control method of the present application should be gradually shortened as the service life increases, so as to ensure the accuracy of the control method and the working accuracy of the joint structure at all times.

[0114] The joint control method provided by the present application measures the backlash value and the rotation angle during installation based on the implementation scenario, thereby obtaining a mapping relationship between the backlash value and the rotation angle. This can further reduce the impact of the transportation and installation process on the compensation value, so as to facilitate compensation of the joint structure during subsequent use, thereby ensuring the working accuracy of the joint structure.

[0115] Based on the above joint control method, the present application embodiment also provides another joint control method, see Figure 5 , Figure 5 The flowchart of the joint control method of this embodiment is shown, and the joint control method may include the following steps S310-S340. It should be understood that in the joint control method of this embodiment, there are the same or corresponding implementation steps as those in the above embodiment. The specific description of these same or corresponding implementation steps can refer to the contents provided in the above embodiment, and this embodiment will not be repeated.

[0116] Step S310: Obtain load information of the actuator, and determine position input information of the first drive chain and position input information of the second drive chain according to the load information.

[0117] Step S320: Input the position information of the first drive chain according to To compensate, the position input information of the second drive chain is Make compensation.

[0118] Step S330: determining the angular displacement, speed and current of the first drive chain after compensation, and the angular displacement, speed and current of the second drive chain after compensation according to the compensated position input information;

[0119] For the first drive chain, the position input information of the first drive chain includes the rotational angular displacement L1. The angular displacement of the first drive chain after compensation is In one embodiment, the first motor is in position control mode, and the first motor can move the angular displacement The proportional adjustment coefficient (kp coefficient) is converted into a corresponding speed value, and the speed loop of the first motor can adjust the speed through the speed value. The first motor then obtains a corresponding current value through a proportional-integral-derivative (PID) controller, and the current loop of the first motor can adjust the current through the current value.

[0120] The rotational angular displacement L1 is converted into the rotational angular velocity v1 according to the proportional adjustment coefficient between the angular displacement and the velocity. The compensation angular displacement is Will compensate for angular displacement Perform calculus to obtain the compensated angular velocity Δv, and the speed of the first drive chain after compensation is v1+Δv. In one embodiment, the first motor is in speed control mode, and the first motor then obtains a corresponding current value by using a proportional-integral-derivative (PID) controller to convert v1+Δv, and the current loop of the first motor can perform current regulation through the current value.

[0121] The angular displacement after compensation is Input into the first motor, the first motor will calculate the compensation current value Δi of the first motor according to the set parameter adjustment strategy, and the sum of the compensation current value Δi and the current current value i1 fed back is the current i1+Δi of the first drive chain after compensation. Among them, the parameter adjustment strategy can be selected or designed according to the relationship between angular displacement and current, specific models, implementation scenarios, etc., and this embodiment does not limit it.

[0122] For the second drive chain, the position input information of the second drive chain includes the rotational angular displacement L1. The angular displacement of the second drive chain after compensation is In one embodiment, the second motor is in position control mode, and the second motor can move the angular displacement The proportional adjustment coefficient (kp coefficient) is converted into a corresponding speed value, and the speed loop of the second motor can adjust the speed through the speed value. The second motor then obtains a corresponding current value through a proportional-integral-derivative (PID) controller, and the current loop of the second motor can adjust the current through the current value.

[0123] The rotational angular displacement L2 is converted into the rotational angular velocity v2 according to the proportional adjustment coefficient between the angular displacement and the velocity. The compensation angular displacement is Will compensate for angular displacement Perform calculus to obtain the compensated angular velocity Δv, and the speed of the second drive chain after compensation is v2+Δv. In one embodiment, the second motor is in speed control mode, and the second motor obtains a corresponding current value by using a proportional-integral-derivative (PID) controller to convert v2+Δv. The current loop of the second motor can adjust the current by using the current value.

[0124] The angular displacement after compensation is Input into the second motor, the second motor will calculate the compensation current value Δi of the second motor according to the set parameter adjustment strategy. The sum of the compensation current value Δi and the current current value i2 fed back is the current i2+Δi of the second drive chain after compensation. Among them, the parameter adjustment strategy can be selected or designed according to the relationship between angular displacement and current, specific models, implementation scenarios, etc., and this embodiment does not limit it.

[0125] Step S340: Control the first drive chain to output according to the compensated angular displacement, speed and current, and control the second drive chain to output according to the compensated angular displacement, speed and current.

[0126] According to the compensated angular displacement, speed and current, the position loop, speed loop and current loop of the first motor are controlled so that the first motor can drive the actuator to the target position.

[0127] The position loop of the first motor is displaced according to the rotation angle For control, the position loop can calculate and control the torque or current output by the motor through the displacement signal to drive the motor to move to the desired position.

[0128] The speed loop of the first motor is displaced according to the speed v1+Δv or the rotation angle The speed value converted by the proportional adjustment coefficient (kp coefficient) is controlled. The speed loop can calculate and control the torque or current output by the motor through the speed signal of the first motor, so that the actual speed is close to the expected speed. The speed control method includes but is not limited to proportional integral control (PI control), fuzzy control, adaptive control, etc.

[0129] The current loop of the first motor is controlled according to the current i1+Δi. The current loop calculates and controls the voltage or current output by the motor by comparing the desired current command with the actual current feedback signal of the motor to control the torque or force of the motor.

[0130] The position loop of the second motor is displaced according to the rotation angle For control, the position loop can calculate and control the torque or current output by the motor through the displacement signal to drive the motor to move to the desired position.

[0131] The speed loop of the second motor is controlled according to the speed v2+Δv. The speed loop can calculate and control the torque or current output by the motor through the speed signal of the second motor so that the actual speed is close to the expected speed. The speed control method includes but is not limited to proportional integral control (PI control), fuzzy control, adaptive control, etc.

[0132] The current loop of the second motor is controlled according to the current i2+Δi. The current loop calculates and controls the voltage or current output by the motor by comparing the desired current command with the actual current feedback signal of the motor to control the torque or force of the motor.

[0133] The joint control method provided in the present application can convert the compensation value into the corresponding angular displacement compensation value, current compensation value and speed compensation value, and input them into the position loop, speed loop and current loop of the first motor and the second motor respectively. It can be accurately controlled through the position loop, speed loop and current loop to meet the user's requirements for angular displacement, current and speed.

[0134] The present application also provides a joint control device 400, see Figure 1 as well as Figure 6 The joint control device 400 is applied to the joint structure 50 in the above embodiment. The joint structure 50 includes an actuator 51, a first drive chain 52 and a second drive chain 53. The first drive chain 52 includes a first motor 521 and a first reducer 522. The first motor 521 is connected to the first reducer 522 in a transmission manner. The first reducer 522 is connected to the actuator 51 in a transmission manner and is used to drive the actuator 51 to rotate. The second drive chain 53 includes a second motor 531 and a second reducer 532. The second motor 531 is connected to the second reducer 532 in a transmission manner. The second reducer 532 is connected to the actuator 51 in a transmission manner and is used to drive the actuator 51 to rotate. In a specific embodiment, the joint control device 400 includes an acquisition module 410, a compensation module 420 and an execution module 430.

[0135] The acquisition module 410 is used to acquire the load information of the actuator 51, and determine the position input information of the first drive chain 52 and the position input information of the second drive chain 53 according to the load information;

[0136] The compensation module 420 is used to input the position information of the first drive chain 52 according to Compensation is performed, and the position input information of the second drive chain 53 is adjusted according to Compensation is performed, wherein f(θ) is a mapping relationship between a rotation angle and a backlash value established according to f1(θ) and f2(θ), f1(θ) is a first backlash value of the joint structure 50 at different rotation angles obtained when the second drive chain 53 is in a closed state; f2(θ) is a second backlash value of the joint structure 50 at different rotation angles obtained when the first drive chain 52 is in a closed state;

[0137] The execution module 430 is used to control the first drive chain 52 and the second drive chain 53 to execute according to the compensated position input information.

[0138] The compensation module 420 is also used to establish a mapping relationship between the rotation angle and the backlash value. Specifically, when the second drive chain is in a closed state, the backlash value f1(θ) of the first reducer at different rotation angles is obtained, and when the first drive chain is in a closed state, the backlash value f2(θ) of the second reducer at different rotation angles is obtained, and the mapping relationship between the rotation angle and the backlash value is established based on f1(θ) and f2(θ).

[0139] In addition, the compensation module 420 is also used to determine at different rotation angles According to the obtained f(θ) values ​​at different rotation angles, fitting is performed to obtain the mapping relationship between the rotation angle and the backlash value. When the second drive chain is in the closed state, when the actuator rotates to different angles, the displacement value S1 of the first reducer under the first torque drive and the difference ΔS between the displacement value S2 under the second torque drive are obtained, and ΔS is determined as the first backlash value f1(θ) of the joint structure at the rotation angle. When the first drive chain is in the closed state, when the actuator rotates to different angles, the displacement value S1 of the second reducer under the first torque drive and the difference ΔS between the displacement value S2 under the second torque drive are obtained, and ΔS is determined as the second backlash value f2(θ) of the joint structure at the rotation angle.

[0140] The execution module 430 is also used to determine the angular displacement, speed and current of the compensated first drive chain, and the angular displacement, speed and current of the compensated second drive chain according to the compensated position input information; control the first drive chain to output according to the compensated angular displacement, speed and current, and control the second drive chain to output according to the compensated angular displacement, speed and current.

[0141] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0142] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0143] In the joint structure 50 of the embodiment of the present application, please refer to Figure 7, the first drive chain and the second drive chain may include a position sensor, the position sensor may obtain the position information of the first motor 521, the first reducer 522, the second motor 531, the second reducer 532, the actuator 51, etc., the position sensor may be electrically connected to the processor, and the processor may obtain the position information. In one embodiment, the position sensor includes a first sensor 511 and a second sensor 512, the first sensor 511 is built into the first motor 521, and the first sensor 511 is used to obtain the position information of the output shaft of the first motor 521. The second sensor 512 is built into the second motor 531, and the second sensor 512 is used to obtain the position information of the output shaft of the second motor 531. The memory 504 is electrically connected to the first sensor 511 and the second sensor 512, and the position information of the first motor 521 and the second motor 522 can be obtained. In addition, the memory 504 stores a program that can execute the content of the aforementioned embodiment, and the processor 302 can execute the program stored in the memory 504.

[0144] The processor 502 may include one or more processing cores. The processor 502 uses various interfaces and lines to connect various parts of the entire electronic device 500, and executes various functions and processes data of the electronic device 500 by running or executing instructions, programs, code sets or instruction sets stored in the memory 504, and calling data stored in the memory 504. Optionally, the processor 502 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA).

[0145] The memory 504 may include a random access memory (RAM) or a read-only memory (ROM). The memory 504 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 504 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the electronic device 500 during use.

[0146] See also Figure 8, an embodiment of the present application provides a block diagram of the structure of a computer-readable storage medium. The computer-readable medium 1000 stores program code, and the program code can be called by a processor to execute the joint control method described in any of the above method embodiments. The computer-readable storage medium 1000 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium 1000 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 1000 has storage space for program code 1100 that executes any method step in the above method. These program codes can be read from or written to one or more computer program products. The program code 1100 can be compressed, for example, in an appropriate form.

[0147] In this specification, the specific features or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint control method, characterized in that: Applied to a joint structure, the joint structure includes an actuator, a first drive chain and a second drive chain, the first drive chain includes a first motor and a first reducer, the first motor is transmission-connected to the first reducer, the first reducer is transmission-connected to the actuator and used to drive the actuator to rotate, the second drive chain includes a second motor and a second reducer, the second motor is transmission-connected to the second reducer, the second reducer is transmission-connected to the actuator and used to drive the actuator to rotate; The method comprises: Acquire load information of the actuator, and determine position input information of the first drive chain and position input information of the second drive chain according to the load information; The position input information of the first drive chain is as follows To compensate, the position input information of the second drive chain is as follows: Compensation is performed, wherein f(θ) is a mapping relationship between a rotation angle and a backlash value established according to f1(θ) and f2(θ), f1(θ) is a first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in a closed state; f2(θ) is a second backlash value of the joint structure at different rotation angles obtained when the first drive chain is in a closed state; The first drive chain and the second drive chain are controlled to be executed according to the compensated position input information.

2. The joint control method according to claim 1, characterized in that: Before obtaining the load information of the actuator, the method further includes: Establish the mapping relationship between the rotation angle and the backlash value.

3. The joint control method according to claim 2, characterized in that: The step of establishing a mapping relationship between the rotation angle and the backlash value includes: When the second drive chain is in a closed state, the backlash value f1(θ) of the first reducer at different rotation angles is obtained. When the first drive chain is in a closed state, the backlash value f2(θ) of the second reducer at different rotation angles is obtained, and a mapping relationship between the rotation angle and the backlash value is established based on f1(θ) and f2(θ).

4. The joint control method according to claim 3, characterized in that: The mapping relationship between the rotation angle and the backlash value is established according to f1(θ) and f2(θ), including: At different rotation angles, determine According to the obtained f(θ) values ​​at different rotation angles, fitting is performed to obtain the mapping relationship between the rotation angle and the backlash value.

5. The joint control method according to claim 3, characterized in that: The step of obtaining the backlash value f1(θ) of the first reducer at different rotation angles when the second drive chain is in a closed state includes: When the second drive chain is in a closed state, when the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the first reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained, and ΔS is determined as the backlash value f1(θ) of the first reducer at the rotation angle.

6. The joint control method according to claim 3, characterized in that: The step of obtaining the backlash value f2(θ) of the second reducer at different rotation angles when the second drive chain is in a closed state includes: When the first drive chain is in a closed state, when the actuator rotates to different angles, the difference ΔS between the displacement value S1 of the second reducer under the first torque drive and the displacement value S2 under the second torque drive is obtained, and ΔS is determined as the backlash value f2(θ) of the first reducer at the rotation angle.

7. The joint control method according to claim 2, characterized in that: The method further comprises: updating the mapping relationship between the rotation angle and the backlash value at predetermined time intervals.

8. The joint control method according to claim 1, characterized in that: The controlling the first drive chain and the second drive chain to be executed according to the compensated position input information includes: Determine the angular displacement, speed and current of the first drive chain after compensation, and the angular displacement, speed and current of the second drive chain after compensation according to the compensated position input information; The first drive chain is controlled to output according to the compensated angular displacement, speed and current, and the second drive chain is controlled to output according to the compensated angular displacement, speed and current.

9. The joint control method according to claim 1, characterized in that: 0＜C≤1.2。 10. A joint control device, characterized in that: Applied to a joint structure, the joint structure includes an actuator, a first drive chain and a second drive chain, the first drive chain includes a first motor and a first reducer, the first motor is transmission-connected to the first reducer, the first reducer is transmission-connected to the actuator and used to drive the actuator to rotate, the second drive chain includes a second motor and a second reducer, the second motor is transmission-connected to the second reducer, the second reducer is transmission-connected to the actuator and used to drive the actuator to rotate; The device comprises: an acquisition module, used for acquiring load information of the actuator, and determining position input information of the first drive chain and position input information of the second drive chain according to the load information; A compensation module is used to input the position information of the first drive chain according to To compensate, the position input information of the second drive chain is as follows: Compensation is performed, wherein f(θ) is a mapping relationship between a rotation angle and a backlash value established according to f1(θ) and f2(θ), f1(θ) is a first backlash value of the joint structure at different rotation angles obtained when the second drive chain is in a closed state; f2(θ) is a second backlash value of the joint structure at different rotation angles obtained when the first drive chain is in a closed state; The execution module is used to control the first drive chain and the second drive chain to execute according to the compensated position input information.

11. A joint structure, characterized in that: include: Actuator; A first drive chain, wherein the first drive chain comprises a first motor and a first reducer, wherein the first motor is drivingly connected to the first reducer, and the first reducer is drivingly connected to the actuator and is used to drive the actuator to rotate; A second drive chain, the second drive chain includes a second motor and a second reducer, the second motor is drivingly connected to the second reducer, the second reducer is drivingly connected to the actuator and is used to drive the actuator to rotate; a processor, the first motor and the second motor being electrically connected to the processor; as well as A memory, the memory is coupled to the processor; the memory stores instructions, and when the instructions are executed by the processor, the processor is caused to perform the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 9.

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