Joint control method and device, joint structure, and storage medium

Abstract

The application provides a joint control method, which comprises the following steps: acquiring load information of the actuator, determining first driving chain position input information and second driving chain position input information according to the load information; compensating the first driving chain position input information according to f(θ), and compensating the second driving chain position input information according to f(θ), wherein f(θ) is a mapping relationship between a rotation angle and a backlash value established according to f1(θ) and f2(θ); and controlling the first driving chain and the second driving chain to execute according to the compensated position input information. The compensation value can be determined according to the corresponding rotation angle, the target angular displacement is compensated, and the rotation is controlled based on the compensated position input information. The joint structure can be ensured to rotate to the target position, and the control precision of the joint structure is ensured.

Description

TECHNICAL FIELD

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

[0002] In industrial production, industrial robots have been widely used. Industrial robots are used to complete high-load and repetitive work tasks to improve industrial production efficiency. With the continuous iteration of industrial technology, various complex industrial processing tasks are realized by relying on the power energy and control ability of industrial robots.

[0003] In the prior art, as the work task becomes heavier, the joint of the industrial robot needs to be driven by multiple drive chains at the same time, but the joint backlash is generated by the multiple drive chains due to normal wear and tear and assembly process and other factors. Joint backlash is the main factor affecting the positioning accuracy of the robot. Further, the multiple drive chains cannot normally drive the joint structure. SUMMARY

[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 applied to a joint structure, the joint structure comprising an actuator, a first drive chain and a second drive chain, the first drive chain comprising a first motor and a first reducer, the first motor being in transmission connection with the first reducer, the first reducer being in transmission connection with the actuator and being used to drive the actuator to rotate, the second drive chain comprising a second motor and a second reducer, the second motor being in transmission connection with the second reducer, the second reducer being in transmission connection with the actuator and being used to drive the actuator to rotate;

[0006] The method comprises:

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

[0008] Compensating the first drive chain position input information according to Compensating the second drive chain position input information according to 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 the 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 the second backlash value of the joint structure at different rotation angles obtained when the first drive chain is in a closed state;

[0009] Controlling the first drive chain and the second drive chain to perform according to the compensated position input information.

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

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

[0012] In an embodiment, the establishing of the mapping relationship between the rotation angle and the backlash value comprises:

[0013] obtaining the backlash value f1(θ) of the first reducer at different rotation angles when the second driving chain is in the closed state, obtaining the backlash value f2(θ) of the second reducer at different rotation angles when the first driving chain is in the closed state, and establishing the mapping relationship between the rotation angle and the backlash value according to f1(θ) and f2(θ).

[0014] In an embodiment, the establishing of the mapping relationship between the rotation angle and the backlash value according to f1(θ) and f2(θ) comprises:

[0015] determining fitting according to the obtained f(θ) values at different rotation angles to obtain the mapping relationship between the rotation angle and the backlash value.

[0016] In an embodiment, the obtaining of the backlash value f1(θ) of the first reducer at different rotation angles when the second driving chain is in the closed state comprises:

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

[0018] In an embodiment, the obtaining of the backlash value f2(θ) of the second reducer at different rotation angles when the second driving chain is in the closed state comprises:

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

[0020] In an embodiment, the method further comprises updating the mapping relationship between the rotation angle and the backlash value every predetermined length of time.

[0021] In an embodiment, the controlling of the first driving chain and the second driving chain to perform according to the compensated position input information comprises:

[0022] According to the compensated position input information, the angular displacement, the speed and the current of the compensated first driving chain, and the angular displacement, the speed and the current of the compensated second driving chain are determined.

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

[0024] In an embodiment, 0 < C ≤ 1.2.

[0025] In a second aspect, the application provides a joint control device, which is applied to a joint structure, and the joint structure comprises an actuator, a first driving chain and a second driving chain, the first driving chain comprises a first motor and a first speed reducer, the first motor is drivingly connected to the first speed reducer, the first speed reducer is drivingly connected to the actuator and is used to drive the actuator to rotate, the second driving chain comprises a second motor and a second speed reducer, the second motor is drivingly connected to the second speed reducer, the second speed reducer is drivingly connected to the actuator and is used to drive the actuator to rotate.

[0026] The device comprises:

[0027] An acquisition module is configured to acquire load information of the actuator, and determine first driving chain position input information and second driving chain position input information according to the load information.

[0028] A compensation module is configured to compensate the first driving chain position input information according to f(θ) and compensate the second driving chain position input information according to f(θ). Wherein, f(θ) is a mapping relationship between a rotation angle and a back lash value, which is established according to f1(θ) and f2(θ), f1(θ) is a first back lash value of the joint structure at different rotation angles, which is obtained when the second driving chain is in a closed state, and f2(θ) is a second back lash value of the joint structure at different rotation angles, which is obtained when the first driving chain is in a closed state.

[0029] An execution module is configured to control the first driving chain and the second driving chain to execute according to the compensated position input information.

[0030] In a third aspect, the application provides a joint structure, which comprises:

[0031] An actuator;

[0032] A first driving chain, the first driving chain comprises a first motor and a first speed reducer, the first motor is drivingly connected to the first speed reducer, the first speed reducer is drivingly connected to the actuator and is used to drive the actuator to rotate.

[0033] ​The second driving chain comprises a second motor and a second speed reducer, the second motor is in transmission connection with the second speed reducer, and the second speed reducer is in transmission connection with the actuator and is configured to drive the actuator to rotate;

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

[0035] a memory, the memory being coupled with the processor; the memory storing instructions which, when executed by the processor, cause the processor to perform the method of the first aspect.

[0036] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium storing program codes, the program codes being executable by a processor to perform the method of the first aspect.

[0037] The joint control method provided by the present application can determine a compensation value according to a corresponding rotation angle when the first driving chain and the second driving chain independently or simultaneously drive the actuator, compensate a target angular displacement, and control rotation based on the compensated position input information. The joint structure can be rotated to a target position, and the control accuracy of the joint structure is ensured.

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

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

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

[0041] Figure 2 A flowchart of a joint control method provided by an embodiment of the present application;

[0042] Figure 3 A flowchart of another joint control method provided by an embodiment of the present application;

[0043] Figure 4A flowchart of a process for establishing a mapping relationship between a rotation angle and a backlash value is provided for an embodiment of the present application.

[0044] Figure 5 A flowchart of another joint control method is provided for an embodiment of the present application.

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

[0046] Figure 7 A structural block diagram of a joint structure is provided for an embodiment of the present application.

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

[0048] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary only, and are not intended to limit the present application.

[0049] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] The present application provides a joint structure 50, please refer to Figure 1 The joint structure 50 includes an actuator 51 and a base 54, and the actuator 51 is driven to reach a target position by rotating the actuator 51 and the base 54, so as to ensure that the joint structure 50 completes the work task. For example, the joint structure 50 is used for carrying goods, the actuator 51 is driven to rotate, and the free end of the actuator 51 reaches the designated position, which facilitates the subsequent actuator 51 to suck the goods for moving. In another embodiment, the joint structure 50 can also include an arm body, and the actuator 51 can be driven to rotate relative to the arm body to meet different implementation scenarios.

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

[0052] In an embodiment, the actuator 51 can be a movable rod, a welding gun, a suction cup, etc., and the present embodiment is not limited thereto.

[0053] In an embodiment, the joint structure 50 can further include an arm body, a base 54, etc., and the first driving chain 52 and the second driving chain 53 can be arranged in the base 54 to drive the actuator 51 to rotate relative to the arm body or the base 54. For example, the first driving chain 52 and the second driving chain 53 are arranged in the arm body, and the actuator 51 can be a movable rod, the first driving chain 52 and the second driving chain 53 are drivingly connected to one end of the actuator 51. Under the driving of the first driving chain 52 and / or the second driving chain 53, the actuator 51 can rotate relative to the arm body to achieve a specific work task.

[0054] The first driving chain 52 includes a first motor 521 and a first reducer 522, the first motor 521 is drivingly connected to the first reducer 522, the first reducer 522 is drivingly connected to the actuator 51 and is used to drive the actuator 51 to rotate. The first reducer 522 includes a first input end and a first output end, and the output shaft of the first motor 521 can be connected to the first input end through belt transmission or gear transmission, etc. The belt transmission has the characteristics of smooth transmission, shock absorption, overload protection, etc., the gear transmission has the characteristics of accurate transmission, high efficiency, compact structure, etc., and the present embodiment is not limited thereto, and can be selected according to the specific transmission requirements and use scenarios, etc. 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. The rotation axis of the actuator 51 can be the axis of the first output end. Moreover, the transmission ratio of 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 the load capacity of the actuator 51 can be improved.

[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 different sizes of hubs 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-in 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 the one or more gear sets can be greater than 1, and the rotation speed of the first drive chain 52 is further reduced after the gear set transmission, and the torque is increased to meet the use requirements of the joint structure 50. The transmission ratio of the two-stage transmission is multiplied to obtain the overall transmission ratio of the first drive chain 52, and the overall transmission ratio of the first drive chain 52 can be greater than 1. When transmitted to the actuator 51, the two-stage reduction has been performed by the first drive chain 52, and the two-stage reduction structure can not only ensure that it does not excessively affect the internal volume, but also can realize sufficient reduction ratio.

[0056] The second drive chain 53 includes a second motor 531 and a second reducer 532, the second motor 531 is drivingly connected to the second reducer 532, the second reducer 532 can be drivingly connected to one end of the actuator 51 away from the first reducer 522, and is used to drive the actuator 51 to rotate. The second reducer 532 includes a second input end and a second output end, and the output shaft of the second motor 531 can be connected to the second input end by belt transmission or gear transmission. The embodiment is not limited, and can be selected according to specific transmission requirements and use 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. 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 and the second input end and the reduction ratio of the second reducer 532 itself can be adjusted to realize a larger reduction ratio, so that the actuator 51 can rotate more smoothly, and the load capacity of the actuator 51 is improved.

[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 different sizes of hubs and are connected and driven by the hubs. 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 through belt transmission. In addition, the second reducer 532 can be internally provided with one or more gear sets, which can be used for transmission between the first output end and the first input end, and the transmission ratio of the one or more gear sets can be greater than 1. After the transmission through the gear set, 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 ratio of the two-stage transmission is multiplied to obtain the overall transmission ratio of the second drive chain 53, and the overall transmission ratio of the second drive chain 53 can be greater than 1. When transmitted to the actuator 51, the two-stage speed reduction has been performed through the second drive chain 53, and the two-stage speed reduction structure can not only ensure that the internal volume is not excessively affected, but also can achieve a sufficient speed reduction ratio.

[0058] In an embodiment, the first motor 521 and the second motor 531 can each be a servo motor, which includes a position loop, a speed loop, and a current loop. The position loop is used to receive a set target position and compare it with the actual position of the motor, and a speed command of the motor is generated through a position regulator using the deviation. The speed loop is used to receive the position command and feedback information, and calculates the speed of the motor to control 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 a corresponding torque. In turn, the speed, torque, and position of the first motor 521 and the second motor 531 can be adjusted and set.

[0059] In the present embodiment, the first drive chain 52 and the second drive chain 53 can independently or simultaneously drive the actuator 51 to rotate. Relatively speaking, when the first drive chain 52 and the second drive chain 53 simultaneously drive the actuator 51, they can have greater torque and can carry more load. Preferably, the axis of the first output end and the axis of the second output end can be collinear, which can ensure that the two ends of the actuator 51 have the same rotation axis and ensure the rotation direction of the actuator 51 when the first drive chain 52 and the second drive chain 53 simultaneously drive the actuator 51.

[0060] The joint structure 50 provided in the present application can utilize 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, thereby 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, thereby ensuring the load capacity of the joint structure 50. Different driving modes can be realized to ensure the load capacity and energy consumption ratio of the joint structure 50.

[0061] Please refer to Figure 2The embodiment also provides a joint control method, which can be applied to the joint structure described above. The joint control method comprises the following steps S110-S130.

[0062] Step S110: obtaining load information of the actuator, and determining first driving chain position input information and second driving chain position input information according to the load information.

[0063] When the user inputs a control instruction, the control instruction can comprise load information of the actuator, and the load information comprises but is not limited to target position information of the actuator, a rotation angle, etc. The current position information can be a current position of the actuator, the target position information can be a position to be reached by the actuator, and the rotation angle can be angle information by which the actuator needs to be rotated from the current position to the target position.

[0064] In an implementation, a sensor built in the joint structure can also obtain the current position information of the actuator.

[0065] The first driving chain position input information refers to a rotation angle of the first driving chain in the process of rotating the actuator from the current position to the target position, and the second driving chain position input information refers to a rotation angle of the second driving chain in the process of rotating the actuator from the current position to the target position. For example, the actuator needs to be rotated by 1 rad, according to the conversion relationship between the actuator and the first driving chain, it can be obtained that the first motor needs to be rotated by 5 rad. The first driving chain position input information can be to control the first motor to be rotated by 5 rad. Alternatively, the actuator needs to be rotated by 1 rad, according to the conversion relationship between the actuator and the second driving chain, it can be obtained that the second motor needs to be rotated by 10 rad. The second driving chain position input information can be to control the second motor to be rotated by 10 rad.

[0066] When the first driving chain and the second driving chain drive the actuator to rotate at the same time, the first driving chain and the second driving chain can be converted according to the respective corresponding conversion relationship to obtain the position input information.

[0067] Step S120: compensating the first driving chain position input information according to , and compensating the second driving chain position input information according to .

[0068] The position input information of the first drive chain may include the rotation angle θ of the first motor. The initial position is a location within the maximum rotation range of the first drive chain, and the rotation angle θ of the first motor can be the angle between the current position and the initial position. Understandably, since the first motor has a built-in position sensor, the rotation angle of the first motor can be more conveniently fed back or controlled; therefore, the rotation angle θ of the first motor is used. The position input information of the first drive chain may also include the rotation angle of the first reducer or actuator, or the rotation angle θ of the first motor may be obtained by conversion based on the relationship between the rotation angles of the three components.

[0069] Based on the rotation angle θ of the first drive chain, the compensation value of the rotation angle θ is obtained. compensation value Adding the rotational angular displacement L1, the required rotational angular displacement of the first drive chain after compensation is: In this embodiment, the rotational angular displacement L1 can be the angular displacement of the first motor rotating to the target position. The rotational angular displacement L1 can be input by the user or converted by the first drive chain based on the target position information. In some other embodiments, the rotation angle θ can be the rotation angle of the first reducer or actuator, and the rotational angular displacement L1 can also be set or converted to the angular displacement of the first reducer or actuator rotating to the target position, ensuring the consistency 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 rotational angular displacement of the first drive chain is the angular displacement required to rotate the actuator from the current position to the target position. The initial position is a position within the maximum rotation range of the first drive chain, and the rotation angle θ of the second motor can be the angle between the current position and the initial position. Understandably, because the second motor has a built-in position sensor, its rotation angle can be more conveniently fed back or controlled; therefore, the rotation angle θ of the second motor is used. The position input information of the second drive chain may also include the rotation angle of the second reducer or the actuator, or the rotation angle θ of the second motor may be obtained by conversion based on the relationship between the rotation angles of the three.

[0071] Based on the rotation angle θ of the second drive chain, the compensation value of the rotation angle θ is obtained. This compensation value is in the opposite direction to the compensation value of the first drive chain. The compensation value... Adding the rotational angular displacement L2, the required rotational angular displacement of the compensated second drive chain is: Wherein, the rotation angle displacement L2 can be the rotation angle displacement of the second motor to the target position, which can be input by the user or converted by the second driving chain according to the target position information. In other embodiments, the rotation angle θ can be the rotation angle of the second reducer or actuator, and the rotation angle displacement L1 can also be set or converted to the rotation angle displacement of the second reducer or actuator to the target position, ensuring the uniformity of the driving data of the second driving chain.

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

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

[0074] Wherein, f1(θ) is the first backlash value of the joint structure at different rotation angles obtained when the second driving chain is in the closed state. In the closed state of the second driving chain, the second motor is locked by the brake. In the brake state, the output shaft of the second motor can be prevented from rotating by mechanical means, 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 under the drive of the first torque and the displacement value S2 under the drive of the second torque is obtained. The first torque and the second torque can be the same in size 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, and the first motor is at the measurement position, and the angle between the measurement position and the initial position is θ. The first motor supplies the first torque to the first reducer, and the first reducer rotates to a certain position under the drive of the first torque, and the difference between the certain position and the measurement position is the displacement value S1. Restricted by the brake locking of the second motor, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate. The first motor supplies the second torque to the first reducer, and the first reducer rotates to another position under the drive of the second torque, and the difference between the another position and the measurement position is the displacement value S2. Restricted by the brake locking of the second motor, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate.

[0076] The displacement difference ΔS is obtained by comparing the displacement value S1 under the first torque and the displacement value S2 under the second torque. The ΔS is determined as the backlash value f1(θ) of the joint structure at the rotation angle.

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

[0078] The second backlash value f2(θ) is obtained at different rotation angles when the first driving chain is in the closed state. In the closed state, the first motor is locked by the brake. In the brake state, the output shaft of the first motor is mechanically prevented from rotating, so 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 and the displacement value S2 under the second torque is obtained.

[0079] Specifically, the first motor is braked, and the second motor is at a measurement position with an angle θ from the initial position. The second motor provides the second reducer with a first torque, and the second reducer rotates to a position under the drive of the first torque, with a displacement value S1 from the measurement position. Due to the brake locking of the first motor, the actuator and the first reducer cannot rotate, so the second reducer cannot continue to rotate. The second motor provides the second reducer with a second torque, and the second reducer rotates to another position under the drive of the second torque, with a displacement value S2 from the measurement position. Due to the brake locking of the first motor, the actuator and the first reducer cannot rotate, so the second reducer cannot continue to rotate.

[0080] The displacement difference ΔS is obtained by comparing the displacement value S1 under the first torque and the displacement value S2 under the second torque. The ΔS is determined as the backlash value f2(θ) of the joint structure at the rotation angle.

[0081] The displacement difference ΔS and the rotation angle θ are measured 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 values 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 a mapping relationship between the rotation angle and the backlash value established according to the first backlash value f1(θ) and the second backlash value f2(θ), and is determined The average value of the first back lash value f1(θ) and the second back lash value f2(θ) can be the back lash value of the rotation angle of the joint structure. According to the measurement of different drive chains, more back lash data can be obtained to make the subsequent compensation more accurate.

[0083] In an embodiment, the mapping relationship between the rotation angle and the back lash value can also be obtained by fitting according to the obtained f(θ) under different rotation angles. In an embodiment, after obtaining the back lash value f(θ) under different rotation angles θ, a suitable interpolation algorithm is selected for data fitting. When selecting the interpolation algorithm, the distribution characteristics of the data and the accuracy requirement of the fitting need to be considered. The selected interpolation algorithm is executed to perform interpolation calculation of the data. The mapping relationship between the rotation angle and the back lash value is calculated by the interpolation algorithm according to the collected rotation angle θ and back lash value f(θ).

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

[0085] The position input information of the first drive chain can also include a rotation angle displacement L1, which is the angle displacement required for the actuator to rotate from the current position to the target position.

[0086] The compensation value of the current position angle θ is The compensation value is added to the rotation angle displacement L1, and the required rotation angle displacement of the compensated first drive chain is The compensation value is added to the rotation angle displacement L1, and the required rotation angle displacement of the compensated first drive chain 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 calculates and controls the torque or current output by the first motor through the signal of the rotation angle displacement , so as to drive the first motor to move to the target position. Thus, the first drive chain can drive the actuator to the target position more accurately, and the working accuracy of the joint structure is ensured.

[0087] The position input information of the second drive chain can also include a rotation angle displacement L2, which is the angle displacement required for the actuator to rotate from the current position to the target position.

[0088] The compensation value of the current position angle θ is The compensation value is added to the rotation angle displacement L1, and the required rotation angle displacement of the compensated first drive chain is The compensation value is added to the rotation angle displacement L1, and the required rotation angle displacement of the compensated first drive chain 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 calculates and controls the torque or current output by the second motor through the signal of the rotation angle displacement the second motor output torque or current to drive the second motor to move to the target position. Thus, the second drive chain can drive the actuator to the target position more accurately, thereby ensuring the working accuracy of the joint structure.

[0089] The control method provided in 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. 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, another joint control method is provided in the embodiments of the present application, which is described below with reference to Figure 3 , Figure 3 A flowchart of the joint control method of the present embodiment is shown, which can include the following steps S210-S230. It should be understood that the joint control method of the present embodiment has the same or corresponding implementation steps as the above embodiments, and the specific description of these same or corresponding implementation steps can be referred to the above embodiments. The present embodiment will not be described in detail.

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

[0092] In the closed state of the second drive chain, 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] In the closed state of the first drive chain, 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 converted according to the first backlash value f1(θ) and the second backlash value f2(θ). According to the obtained f(θ) at different rotation angles, the mapping relationship between the rotation angle and the backlash value is obtained by fitting.

[0095] As a more specific implementation, please refer to Figure 4 The mapping relationship between the rotation angle and the backlash value can be established according to the following steps S211-S213:

[0096] Step S211: When the second driving chain is in the closed state, the difference ΔS between the displacement value S1 of the first reducer under the first torque driving and the displacement value S2 under the second torque driving is obtained when the actuator is rotated to different angles, and ΔS is determined 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 driving chain is in the closed state. When the second driving chain is in the closed state, the second motor is locked by the brake. In the brake state, the output shaft of the second motor can be mechanically prevented from rotating, and thus the second motor cannot rotate in the brake state. When the actuator is rotated to different angles, the difference ΔS between the displacement value S1 of the first reducer under the first torque driving and the displacement value S2 under the second torque driving is obtained. The first torque and the second torque can be the same in size 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, ….

[0098] Specifically, the second motor is braked, and the first motor is at a measurement position, and the angle between the measurement position and the initial position is θ. The first motor supplies the first torque to the first reducer, and the first reducer is rotated to a certain position under the driving of the first torque, and the difference between the certain position and the measurement position is the displacement value S1. Due to the locking of the second motor by the brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate. The first motor supplies the second torque to the first reducer, and the first reducer is rotated to another position under the driving of the second torque, and the difference between the another position and the measurement position is the displacement value S2. Due to the locking of the second motor by the brake, the actuator and the second reducer cannot rotate, so that the first reducer cannot continue to rotate.

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

[0100] The displacement difference ΔS and the rotation angle θ are measured repeatedly at multiple positions to obtain the second backlash value f1(θ) of the joint structure at different rotation angles.

[0101] Step S212: When the first driving chain is in the closed state, the difference ΔS between the displacement value S1 of the second reducer under the first torque driving and the displacement value S2 under the second torque driving is obtained when the actuator is rotated to different angles, and ΔS is determined 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, obtained when the first driving chain is in the closed state. In the closed state of the first driving chain, the first motor is locked by the brake. In the brake state, the output shaft of the first motor is mechanically prevented from rotating, and thus the first motor cannot rotate in the brake state. When the actuator is rotated to different angles, the difference ΔS between the displacement value S1 of the second reducer under the first torque driving and the displacement value S2 under the second torque driving is obtained.

[0103] Specifically, the first motor is braked, and the second motor is at a measurement position, which is at an angle θ from the initial position. The second motor provides the second reducer with a first torque, and the second reducer rotates to a position under the driving of the first torque, and the difference between this position and the measurement position is a displacement value S1. Due to the brake locking of the first motor, the actuator and the first reducer cannot rotate, so the second reducer cannot continue to rotate. The second motor provides the second reducer with a second torque, and the second reducer rotates to another position under the driving of the second torque, and the difference between this position and the measurement position is a displacement value S2. Due to the brake locking of the first motor, the actuator and the first reducer cannot rotate, so the second reducer cannot continue to rotate.

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

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

[0106] Step S213: At different rotation angles, the 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 the mapping relationship between the rotation angle and the backlash value established according to the first backlash value f1(θ) and the second backlash value f2(θ), and the The average of the first backlash value f1(θ) and the second backlash value f2(θ) can be the backlash value of the rotation angle of the joint structure. According to the measurement of different driving chains, more backlash data can be obtained to make the subsequent compensation more accurate.

[0108] In an embodiment, the mapping relationship between the rotation angle and the back lash value can also be obtained by fitting the acquired f(θ) at different rotation angles. In an embodiment, after obtaining the back lash value f(θ) at different rotation angles θ, a suitable interpolation algorithm is selected to perform data fitting. When selecting the interpolation algorithm, the distribution characteristics of the data and the accuracy requirement of the fitting need to be considered. The selected interpolation algorithm is executed to perform interpolation calculation of the data. The mapping relationship between the rotation angle and the back lash value is calculated by the interpolation algorithm according to the collected rotation angle θ and back lash value f(θ).

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

[0110] Step S230: Compensate the first drive chain position input information according to , and compensate the second drive chain position input information according to .

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

[0112] It can be understood that the back lash values of the first drive chain and the second drive chain will change with the working time. For example, the longer the working time, the more serious the wear of the first drive chain and the second drive chain, and the back lash value will also increase. The control method provided by the present application can also include updating the mapping relationship between the rotation angle and the back lash value every predetermined time length. The predetermined time length can be a quarter, half a year, a year, etc., which can be selected according to the specific accuracy requirement and implementation scene, and the present embodiment does not limit it. The mapping relationship between the rotation angle and the back lash value of the first drive chain and the second drive chain can be measured periodically, and the mapping relationship obtained after measurement is transmitted to the first drive chain and the second drive chain, so as to ensure the accuracy of the control method.

[0113] Preferably, as the working time increases, the internal wear of the first drive chain and the second drive chain gradually intensifies, and in addition, the material fatigue caused by the stress concentration and other situations faced by the first drive chain and the second drive chain will cause the wear to become faster and faster, and the back lash value to increase faster and faster. The predetermined time length in the control method of the present application should be gradually shortened as the working time 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 in this application measures the backlash and rotation angle during installation in the implementation scenario, thereby obtaining the mapping relationship between the backlash and rotation angle. This can further reduce the impact of transportation and installation processes on the compensation value, facilitating compensation of the joint structure during subsequent use and ensuring the working accuracy of the joint structure.

[0115] Based on the joint control method described above, this application also provides another joint control method, see below. Figure 5 , Figure 5 A flowchart of the joint control method of this embodiment is shown. The joint control method may include the following steps S310-S340. It should be understood that the joint control method of this embodiment has the same or corresponding implementation steps as those in the above embodiments. For a detailed description of these same or corresponding implementation steps, please refer to the content provided in the above embodiments. This embodiment will not repeat them.

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

[0117] Step S320: Input position information for the first drive chain according to... Compensation is performed by inputting the position information of the second drive chain according to... Compensation will be provided.

[0118] Step S330: Based on the compensated position input information, determine the angular displacement, velocity, and current of the compensated first drive chain, and the angular displacement, velocity, and current of the compensated second drive chain;

[0119] For the first drive chain, the position input information of the first drive chain includes the rotational angular displacement L1, and the compensated angular displacement of the first drive chain is... In one implementation, the first motor is in position control mode, and the first motor can perform angular displacement. The proportional control coefficient (kp coefficient) is converted into a corresponding speed value, which can be used to regulate the speed of the first motor via its speed loop. The first motor then uses this speed to obtain a corresponding current value through a proportional-integral-derivative (PID) controller, which can be used to regulate the current of the first motor via its current loop.

[0120] The rotational angular displacement L1 is converted into rotational angular velocity v1 according to the proportional adjustment coefficient between angular displacement and velocity, and the compensated angular displacement is... Compensation angular displacement Calculus is performed to obtain the compensated angular velocity Δv, and the compensated speed of the first drive chain is v1 + Δv. In one embodiment, the first motor is in speed control mode, and the first motor then uses a proportional-integral-derivative (PID) controller to obtain the corresponding current value from v1 + Δv. The current loop of the first motor can be used to regulate the current through this current value.

[0121] The compensated rotational angular displacement is The input is sent to the first motor, which calculates the compensation current value Δi according to the set parameter adjustment strategy. The sum of the compensation current value Δi and the current value i1 fed back is the compensated current i1+Δi of the first drive chain. The parameter adjustment strategy can be selected or designed according to the relationship between angular displacement and current, specific model, implementation scenario, etc., and this embodiment does not impose any restrictions.

[0122] For the second drive chain, the position input information includes the rotational angular displacement L1, and the compensated angular displacement of the second drive chain is... In one implementation, the second motor is in position control mode, and the second motor can perform angular displacement. The proportional control coefficient (kp coefficient) is converted into a corresponding speed value, which can be used to regulate the speed of the second motor via its speed loop. The second motor then uses this speed to obtain a corresponding current value through a proportional-integral-derivative (PID) controller, which can be used to regulate the current of the second motor via its current loop.

[0123] The rotational angular displacement L2 is converted into rotational angular velocity v2 according to the proportional adjustment coefficient between angular displacement and velocity, and the compensated angular displacement is... Compensation angular displacement Calculus is performed to obtain the compensated angular velocity Δv, and the compensated speed of the second drive chain is v2 + Δv. In one embodiment, the second motor is in speed control mode, and the second motor then uses a proportional-integral-derivative (PID) controller to obtain the corresponding current value from v2 + Δv. The current loop of the second motor can be used to regulate the current through this current value.

[0124] The compensated rotational angular displacement is The input is into the second motor, and the second motor calculates a compensation current value Δi according to a set parameter adjustment strategy. The sum of the compensation current value Δi and the feedback current value i2 is the compensated current i2+Δi of the second drive chain. The parameter adjustment strategy can be selected or designed according to the angular displacement and current relationship, specific model, implementation scene, etc., and the embodiment does not limit it.

[0125] Step S340: controlling the first drive chain to output according to the compensated angular displacement, speed and current, and controlling 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 to enable the first motor to drive the actuator to the target position.

[0127] The position loop of the first motor is controlled according to the rotational angular displacement The position loop can calculate and control the torque or current output by the motor to drive the motor to move to the desired position through the displacement signal.

[0128] The speed loop of the first motor is controlled according to the speed v1+Δv or the rotational angular displacement The speed loop can calculate and control the torque or current output by the motor to make the actual speed close to the desired speed through the speed signal of the first motor. 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 to control the torque or force of the motor by comparing the expected current command and the actual current feedback signal of the motor.

[0130] The position loop of the second motor is controlled according to the rotational angular displacement The position loop can calculate and control the torque or current output by the motor to drive the motor to move to the desired position through the displacement signal.

[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 to make the actual speed close to the desired speed through the speed signal of the second motor. 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 controls the current i2+Δi, and the current loop calculates and controls the voltage or current output by the motor by comparing the expected current command and the actual current feedback signal of the motor, so as to control the torque or force of the motor.

[0133] The joint control method provided in the application can convert the compensation value into corresponding angular displacement compensation value, current compensation value and speed compensation value, and input the compensation value into the position loop and speed loop and current loop of the first motor and the second motor respectively, so that the position loop, the speed loop and the current loop can be accurately controlled to meet the requirements of the user on the angular displacement, the current and the speed.

[0134] The application further provides a joint control device 400, please refer to Figure 1 and Figure 6 The joint control device 400 is applied to the joint structure 50 in the above-mentioned embodiments, and the joint structure 50 comprises an actuator 51, a first driving chain 52 and a second driving chain 53. The first driving chain 52 comprises a first motor 521 and a first speed reducer 522, the first motor 521 is drivingly connected to the first speed reducer 522, the first speed reducer 522 is drivingly connected to the actuator 51 and is used to drive the actuator 51 to rotate. The second driving chain 53 comprises a second motor 531 and a second speed reducer 532, the second motor 531 is drivingly connected to the second speed reducer 532, the second speed reducer 532 is drivingly connected to the actuator 51 and is used to drive the actuator 51 to rotate. In a specific embodiment, the joint control device 400 comprises 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 driving chain 52 and the position input information of the second driving chain 53 according to the load information.

[0136] The compensation module 420 is used to compensate the position input information of the first driving chain 52 according to , and compensate the position input information of the second driving chain 53 according to , 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 the first backlash value of the joint structure 50 at different rotation angles obtained when the second driving chain 53 is in a closed state, and f2(θ) is the second backlash value of the joint structure 50 at different rotation angles obtained when the first driving chain 52 is in a closed state.

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

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

[0139] In addition, the compensation module 420 is further configured to 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. When the actuator is rotated to different angles in the closed state of the second driving chain, the difference ΔS between the displacement value S1 of the first reducer under the first torque driving and the displacement value S2 under the second torque driving is obtained, and ΔS is determined as the first backlash value f1(θ) of the joint structure at the rotation angle. When the actuator is rotated to different angles in the closed state of the first driving chain, the difference ΔS between the displacement value S1 of the second reducer under the first torque driving and the displacement value S2 under the second torque driving is 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 further configured to determine the compensated angular displacement, speed and current of the first driving chain and the compensated angular displacement, speed and current of the second driving chain according to the compensated position input information, control the first driving chain to output according to the compensated angular displacement, speed and current, and control the second driving 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 process of the above-described device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0142] In several embodiments provided in the present application, the coupling between the modules can 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 7The first driving chain and the second driving chain can include a position sensor, which can acquire 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 can be electrically connected to the processor, and the processor can acquire the position information. In an embodiment, the position sensor includes a first sensor 511 and a second sensor 512. The first sensor 511 is built in the first motor 521 and is used to acquire position information of an output shaft of the first motor 521. The second sensor 512 is built in the second motor 531 and is used to acquire position information of an output shaft of the second motor 531. The memory 504 is electrically connected to the first sensor 511 and the second sensor 512 and can acquire the position information of the first motor 521 and the second motor 522. In addition, the memory 504 stores a program that can execute the content of the foregoing embodiments, and the processor 302 can execute the program stored in the memory 504.

[0144] The processor 502 can include one or more processing cores. The processor 502 connects various parts in the entire electronic device 500 through various interfaces and lines, executes various functions of the electronic device 500 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 504, and calling data stored in the memory 504. Alternatively, the processor 502 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA).

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

[0146] Please refer to Figure 8The computer readable storage medium 1000 has storage space for program codes 1100 to execute any of the method steps described above. The program codes can be read from or written to one or more computer program products. The program codes 1100 can be compressed in a suitable form, for example.

[0147] In this specification, specific features or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. Furthermore, different embodiments or examples described in this specification, and features of different embodiments or examples, can be combined and combined by those skilled in the art without mutual contradiction. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint control method characterized by, The application is applied to a joint structure, the joint structure comprises an actuator, a first driving chain and a second driving chain, the first driving chain comprises 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, the second driving chain comprises 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; The method comprises: obtaining load information of the actuator, determining position input information of the first driving chain and position input information of the second driving chain according to the load information; The position input information of the first driving chain is compensated according to The position input information of the second driving chain is compensated according to f(θ), wherein f(θ) is a mapping relationship between the rotation angle and the back lash value established according to f1(θ) and f2(θ), f1(θ) is the first back lash value of the joint structure at different rotation angles obtained when the second driving chain is in the closed state; f2(θ) is the second back lash value of the joint structure at different rotation angles obtained when the first driving chain is in the closed state. controlling the first driving chain and the second driving chain to execute according to the compensated position input information.

2. The joint control method according to claim 1, characterized by, Before the step of obtaining the load information of the actuator, the method further comprises: establishing a mapping relationship between a rotation angle and a backlash value.

3. The joint control method according to claim 2, characterized by, The step of establishing the mapping relationship between the rotation angle and the backlash value comprises: obtaining a backlash value f1(θ) of the first reducer at different rotation angles when the second driving chain is in a closed state, obtaining a backlash value f2(θ) of the second reducer at different rotation angles when the first driving chain is in a closed state, and establishing the mapping relationship between the rotation angle and the backlash value according to f1(θ) and f2(θ).

4. The joint control method according to claim 3, characterized by, The step of establishing the mapping relationship between the rotation angle and the backlash value according to f1(θ) and f2(θ) comprises: At different rotation angles, determine According to the obtained f(θ) values at different rotation angles, fitting is performed to obtain a mapping relationship between the rotation angle and the back gap value.

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

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

7. The joint control method according to claim 2, wherein The method further comprises: updating the mapping relationship between the rotation angle and the backlash value every predetermined time length.

8. The joint control method according to claim 1, wherein, The step of controlling the first driving chain and the second driving chain to execute according to the compensated position input information comprises: determining compensated angular displacement, speed and current of the first driving chain and compensated angular displacement, speed and current of the second driving chain according to the compensated position input information; controlling the first driving chain to output according to the compensated angular displacement, speed and current, and controlling the second driving chain to output according to the compensated angular displacement, speed and current.

9. The joint control method according to claim 1, characterized by, 0＜C≤1.2。 10. An articulation control device, characterized by The application is applied to a joint structure, the joint structure comprising an actuator, a first driving chain and a second driving chain, the first driving chain comprising a first motor and a first speed reducer, the first motor being in transmission connection with the first speed reducer, the first speed reducer being in transmission connection with the actuator and being used for driving the actuator to rotate, the second driving chain comprising a second motor and a second speed reducer, the second motor being in transmission connection with the second speed reducer, the second speed reducer being in transmission connection with the actuator and being used for driving the actuator to rotate; The device comprises: an acquisition module, configured to acquire load information of the actuator, and determine position input information of the first driving chain and position input information of the second driving chain according to the load information; a compensation module configured to compensate the position input information of the first driving chain according to and compensate the position input information of the second driving chain according to 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 the first backlash value of the joint structure at different rotation angles obtained when the second driving chain is in the closed state; and f2(θ) is the second backlash value of the joint structure at different rotation angles obtained when the first driving chain is in the closed state. an execution module, configured to control the first driving chain and the second driving chain to execute according to the compensated position input information.

11. A joint structure, characterized by comprise: an actuator; a first driving chain, the first driving chain comprising a first motor and a first speed reducer, the first motor being in transmission connection with the first speed reducer, the first speed reducer being in transmission connection with the actuator and being used for driving the actuator to rotate; a second driving chain, the second driving chain comprising a second motor and a second speed reducer, the second motor being in transmission connection with the second speed reducer, the second speed reducer being in transmission connection with the actuator and being used for driving the actuator to rotate; a processor, the first motor and the second motor being in electrical connection with the processor; and a memory, the memory being coupled with the processor; the memory storing instructions, when the instructions are executed by the processor, the processor executes the method as claimed in any one of claims 1-9.

12. A computer readable storage medium, characterized in that, The computer readable storage medium stores program codes, the program codes can be called and executed by the processor to execute the method as claimed in any one of claims 1-9. The computer readable storage medium stores program codes, the program codes can be called and executed by the processor to execute the method as claimed in any one of claims 1-9.

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