Control method and device, robot and computer readable storage medium

Abstract

The invention discloses a control method and device, a robot and a computer readable storage medium. The control method comprises the steps that the external force change rate, the speed change rate and the displacement deviation rate of the current robot are determined; determining an adjustment strategy corresponding to the virtual quality of the target object; the target object is a robot end tool; determining an adjustment strategy of the current damping coefficient of the robot; determining an adjustment strategy of the current rigidity coefficient of the robot; and according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted rigidity coefficient, the acceleration parameter of the robot is determined, so that the robot conducts self-adaptive adjustment according to the acceleration parameter. Therefore, the robot adjusts the virtual mass of the target object and the damping coefficient and the rigidity coefficient of the robot in real time according to the change of the external environment so as to determine the acceleration parameter suitable for the current external environment, and the robot conducts self-adaptive adjustment according to the acceleration parameter so as to move according to the speed parameter and the position parameter after self-adaptive adjustment.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and more specifically, to a control method, device, robot and computer-readable storage medium. Background Art

[0002] Robots play an extremely important role in production automation. Currently, industrial robots have been widely used in production automation. In the force control system of robots, compliance control and response stability are important factors that determine the accuracy and safety of the system. For example, in medical, assembly, and collaborative application scenarios. However, when the robot is in a dynamic environment, it is easy to have a stiff or unstable response, which affects the compliance control and response stability of the robot, and then affects the normal operation of the robot. Summary of the invention

[0003] In view of the above problems, the present application proposes a control method, device, robot and computer-readable storage medium, which can effectively improve the compliance control and response stability of the robot.

[0004] In a first aspect, an embodiment of the present application provides a control method applied to a robot, the control method comprising: determining the current external force change rate, speed change rate and displacement deviation rate of the robot; determining an adjustment strategy corresponding to the virtual mass of the target object based on the external force change rate and a first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is a robot end tool; determining an adjustment strategy for the current damping coefficient of the robot based on the speed change rate and a second preset threshold value, so as to determine the adjusted damping coefficient of the robot; determining an adjustment strategy for the current stiffness coefficient of the robot based on the displacement deviation rate and a third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; determining the acceleration parameters of the robot based on the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameters.

[0005] In the second aspect, an embodiment of the present application also provides a control device, which is applied to a robot, and the control device includes: a first determination module, which is used to determine the external force change rate, speed change rate and displacement deviation rate of the current robot; a second determination module, which is used to determine the adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold, so as to determine the adjusted virtual mass of the target object; the target object is a robot end tool; a third determination module, which is used to determine the adjustment strategy of the robot's current damping coefficient according to the speed change rate and the second preset threshold, so as to determine the adjusted damping coefficient of the robot; a fourth determination module, which is used to determine the adjustment strategy of the robot's current stiffness coefficient according to the displacement deviation rate and the third preset threshold, so as to determine the adjusted stiffness coefficient of the robot; a fifth determination module, which is used to determine the acceleration parameters of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameters.

[0006] In a third aspect, an embodiment of the present application also provides a robot comprising a processor, a memory, and one or more applications; the one or more applications are stored in the memory and configured to be executed by the processor to implement the above-mentioned chip self-test method.

[0007] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a program code is stored, wherein the above-mentioned chip self-test method is executed when the program code is run by a processor.

[0008] The technical solution provided by the present application, the control method includes: determining the external force change rate, speed change rate and displacement deviation rate of the current robot; determining the adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is a robot end tool; determining the adjustment strategy of the current damping coefficient of the robot according to the speed change rate and the second preset threshold value, so as to determine the adjusted damping coefficient of the robot; determining the adjustment strategy of the current stiffness coefficient of the robot according to the displacement deviation rate and the third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; determining the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameter. Thus, the robot adjusts the virtual mass of the target object, the damping coefficient and the stiffness coefficient of the robot in real time according to the changes in the external environment, so as to determine the acceleration parameter suitable for the current external environment, so that the robot can perform adaptive adjustment according to the acceleration parameter, so as to move according to the adaptively adjusted speed parameter and position parameter, so as to improve the compliance control and response stability of the robot in a dynamic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0010] Figure 1 A flow chart of a control method provided in an embodiment of the present application is shown.

[0011] Figure 2 A schematic structural diagram of a control device provided in an embodiment of the present application is shown.

[0012] Figure 3 A schematic structural diagram of a robot provided in an embodiment of the present application is shown.

[0013] Figure 4 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0015] In the following description, reference is made to "some embodiments", which describes a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. In the following description, reference is made to the term "multiple" to mean at least two.

[0016] In the following description, the terms "first\second" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0018] Robots play an extremely important role in production automation. Currently, industrial robots have been widely used in production automation. In the force control system of robots, compliance control and response stability are important factors that determine the accuracy and safety of the system. For example, in medical, assembly, and collaborative application scenarios. However, when the robot is in a dynamic environment, it is easy to have a stiff or unstable response, which affects the compliance control and response stability of the robot, and then affects the normal operation of the robot.

[0019] In order to improve the above-mentioned problems, the present application provides a control method, device, robot and computer-readable storage medium. The control method is applied to the robot, including: determining the current external force change rate, speed change rate and displacement deviation rate of the robot; determining the adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is the robot end tool; determining the adjustment strategy of the robot's current damping coefficient according to the speed change rate and the second preset threshold value, so as to determine the adjusted damping coefficient of the robot; determining the adjustment strategy of the robot's current stiffness coefficient according to the displacement deviation rate and the third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; determining the acceleration parameters of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameters.

[0020] Therefore, the robot adjusts the virtual mass of the target object, the damping coefficient and the stiffness coefficient of the robot in real time according to the changes in the external environment to determine the acceleration parameters suitable for the current external environment, so that the robot can adaptively adjust according to the acceleration parameters and move according to the adaptively adjusted speed parameters and position parameters, thereby improving the robot's compliance control and response stability in a dynamic environment.

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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.

[0022] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a control method provided by an embodiment of the present application. Figure 1 As shown, the control method is applied to a robot, and the control method may include steps 110 to 150.

[0023] In step 110 , the external force change rate, velocity change rate, and displacement deviation rate of the current robot are determined.

[0024] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operations or movements through programming and automatic control. For example, a robot grabs a target object and moves the target object from position A to position A along a specific moving route.

[0025] The current external force change rate of the robot can be the change of the external force currently applied to the robot. The external force change rate of the robot can reflect the severity of the change of the external force currently applied to the robot.

[0026] In some embodiments, the robot includes a detection module disposed at the end. The step of determining the current rate of change of the external force of the robot may include the following steps: (1) Determine the external force parameters of the current robot in the first coordinate system through the detection module.

[0027] (2) Based on the external force parameters, determine the current rate of change of the robot’s external force.

[0028] The detection module may be a multi-axis force sensor or a torque sensor.

[0029] The first coordinate system may be a coordinate system where the detection module is located. For example, a coordinate system constructed based on the detection module. For another example, the first coordinate system may be a coordinate system corresponding to the end of the robot, that is, the first coordinate system may be a tool center point (TCP) coordinate system.

[0030] The external force parameters can be the force and torque of the target object in the three directions of the X-axis, Y-axis and Z-axis of the first coordinate system collected in real time by the detection module. The external force change rate of the current robot is determined according to the force and torque in the three directions of the X-axis, Y-axis and Z-axis.

[0031] Exemplarily, the detection module determines that the external force parameters of the current robot in the first coordinate system include the previous external force parameters And the current external force parameters , then the current robot's external force change rate is . The previous external force parameter may be any external force parameter before the current external force parameter. Alternatively, the previous external force parameter may be the external force parameter of the robot before the external force changes. For example, when the external force parameter of the robot is F1, and the robot changes from the external force parameter of F2 to the external force parameter of F1, the previous external force parameter is the external force parameter of F1, and the current external force parameter is F2.

[0032] In the embodiment of the present application, the speed change rate may be a change in the current moving speed of the robot. The speed parameter of the robot may be obtained through a speed sensor, and then the current speed change rate of the robot may be determined according to the speed parameter of the robot.

[0033] In an embodiment of the present application, the displacement deviation rate may be the deviation between the current position of the current robot and the expected position. The speed parameter of the robot may be obtained through a speed sensor, and then the acceleration of the robot may be determined according to the speed parameter of the robot, and then the current robot moving position parameter may be determined according to the speed parameter and the acceleration. The displacement deviation rate of the current robot may then be determined according to the moving position parameter.

[0034] By determining the external force change rate, velocity change rate and displacement deviation rate of the current robot, in the subsequent steps, appropriate parameters are assigned to the current robot (for example, the virtual mass of the target object, the damping coefficient of the robot or the stiffness coefficient of the robot are re-determined) so that the robot can respond dynamically in real time according to changes in the external environment to improve the flexibility and stability of the robot. Specifically: In step 120 , an adjustment strategy corresponding to the virtual mass of the target object is determined according to the external force change rate and the first preset threshold value to determine the adjusted virtual mass of the target object.

[0035] The target object is the robot end tool.

[0036] When the external force change rate is greater than or equal to the first preset threshold, it means that the external force on the robot changes dramatically. At this time, due to the dramatic change in the external force, the robot is prone to unstable response. For example, the target object is prone to detach from the robot. When the external force change rate is less than the first preset threshold, it means that the external force on the robot changes less and the external force on the robot changes more steadily.

[0037] By comparing the external force change rate with the first preset threshold, the change of the external force on the robot is determined, and then the virtual mass of the target object is adjusted in real time according to the change of the external force, so as to improve the smoothness of the robot's response when the external force on the robot changes violently. And when the external force on the robot changes relatively smoothly, the robot's responsiveness is improved.

[0038] The specific value of the first preset threshold value may be determined according to the smoothness of the robot response and the effect of the robot responsiveness when the first preset threshold value has different values.

[0039] Furthermore, in some embodiments, the step of determining an adjustment strategy corresponding to the virtual mass of the target object based on the external force change rate and a first preset threshold value may include the steps of: when the external force change rate is greater than the first change rate threshold, increasing the virtual mass corresponding to the target object based on the current virtual mass of the target object and the external force change rate to slow down the responsiveness of the robot.

[0040] When the external force change rate is greater than the first preset threshold, it means that the external force on the robot changes dramatically. By increasing the current virtual mass of the target object, the inertia of the robot is increased to prevent the robot from moving too quickly and causing the target object to fall.

[0041] By increasing the current virtual mass of the target object, the robot's responsiveness is slowed down, thus avoiding violent movements of the robot.

[0042] In some embodiments, when the external force change rate is greater than or equal to a first change rate threshold, the virtual mass corresponding to the target object is increased according to the current virtual mass of the target object and the external force change rate to slow down the responsiveness of the robot.

[0043] In some embodiments, the step of determining an adjustment strategy corresponding to the virtual mass of the target object based on the external force change rate and a first preset threshold value may include the steps of: when the external force change rate is less than the first change rate threshold, reducing the virtual mass corresponding to the target object based on the current virtual mass of the target object and the external force change rate to improve the responsiveness of the robot.

[0044] When the external force change rate is less than the first preset threshold, it means that the external force applied to the robot changes little and the external force applied to the robot changes smoothly. By reducing the current virtual mass of the target object, the robot can respond to external force control faster.

[0045] In a specific embodiment, the step of determining the adjustment strategy corresponding to the virtual mass of the target object includes the steps of: determining a first target equation in a first adjustment equation group to determine the adjustment strategy corresponding to the virtual mass of the target object.

[0046] The first adjustment equation group includes multiple equations. According to the relationship between the external force change rate and the first change rate threshold, the corresponding equation is determined in the first adjustment equation group to increase the current virtual mass of the target object; or the corresponding equation is determined in the first adjustment equation group to reduce the current virtual mass of the target object.

[0047] The expression of the first adjustment equation group is shown as: ; in, is the final virtual mass of the target object; is the current virtual mass of the target object; is the quality adjustment gain factor; is the current rate of change of the robot's external force.

[0048] When the external force change rate is greater than or equal to the first preset threshold, the first equation in the first adjustment equation group is determined as the first target equation, and the virtual mass corresponding to the target object after adjustment is calculated by the first target equation, so as to increase the current virtual mass of the target object, thereby slowing down the system response and avoiding the situation where the robot moves violently.

[0049] When the external force change rate is less than the first preset threshold, the second equation in the first adjustment equation group is determined as the first target equation, and the virtual mass corresponding to the target object after adjustment is calculated by the first target equation, so as to reduce the current virtual mass of the target object, thereby improving the agility of the system and making the robot more flexible when the external force is stable.

[0050] In step 130, an adjustment strategy for the current damping coefficient of the robot is determined according to the speed change rate and the second preset threshold value to determine the adjusted damping coefficient of the robot.

[0051] When the speed change rate is greater than or equal to the second preset threshold, it means that the speed of the robot changes dramatically. At this time, the system is prone to oscillation. When the speed change rate is less than the second preset threshold, it means that the speed of the robot changes relatively smoothly.

[0052] By comparing the speed change rate with the second preset threshold, the speed change of the robot is determined, and then the damping coefficient of the robot is adjusted in real time according to the speed change of the robot, so as to suppress the oscillation of the system when the speed change of the robot is drastic. When the speed change of the robot is relatively stable, the flexibility of the robot is enhanced.

[0053] The specific value of the second preset threshold can be determined according to the degree of system oscillation and the effect of the robot's compliance when the second preset threshold has different values.

[0054] Further, in some embodiments, the step of determining an adjustment strategy for the current damping coefficient of the robot based on the speed change rate and a second preset threshold value may include the steps of: when the speed change rate is greater than the second change rate threshold, increasing the current damping coefficient of the robot based on the current damping coefficient of the robot and the speed change rate to slow down the oscillation of the robot.

[0055] When the speed change rate is greater than the second preset threshold, it indicates that the speed corresponding to the robot changes dramatically, and the current damping coefficient of the robot is added to suppress system oscillation. In other embodiments, when the speed change rate is equal to the second preset threshold, it indicates that the speed corresponding to the robot changes dramatically, and the current damping coefficient of the robot is added to suppress system oscillation.

[0056] In some embodiments, the step of determining an adjustment strategy for the current damping coefficient of the robot based on the speed change rate and a second preset threshold value may include the steps of: when the speed change rate is less than the second change rate threshold, reducing the current damping coefficient of the robot based on the current damping coefficient and the speed change rate of the robot to improve the compliance of the robot.

[0057] When the speed change rate is less than the second preset threshold, it indicates that the corresponding speed change of the robot is relatively stable, and the robot's compliance is enhanced by reducing the current damping coefficient of the robot.

[0058] In a specific embodiment, the step of determining an adjustment strategy for a current damping coefficient of the robot includes the steps of: determining a second target equation in a second adjustment equation group to determine an adjustment strategy for the current damping coefficient of the robot.

[0059] The second adjustment equation group includes multiple equations. According to the relationship between the speed change rate and the second change rate threshold, the corresponding equation is determined in the second adjustment equation group to increase the current damping coefficient of the robot; or the corresponding equation is determined in the second adjustment equation group to reduce the current damping coefficient of the robot.

[0060] The expression of the second adjustment equation group is shown as: ; in, is the final damping coefficient of the robot; is the current damping coefficient of the robot; Adjust the gain factor for damping; is the current speed change rate of the robot.

[0061] When the speed change rate is greater than or equal to the second preset threshold, the first equation in the second adjustment equation group is determined as the second target equation, and the corresponding damping coefficient of the robot after adjustment is calculated by the second target equation to increase the damping coefficient of the robot, thereby suppressing system oscillation.

[0062] When the speed change rate is less than the second preset threshold, the second equation in the second adjustment equation group is determined as the second target equation, and the damping coefficient corresponding to the robot after adjustment is calculated by the second target equation, so as to reduce the damping coefficient of the robot and enhance the compliance of the robot.

[0063] In step 140, an adjustment strategy for the current stiffness coefficient of the robot is determined according to the displacement deviation rate and the third preset threshold value to determine the adjusted stiffness coefficient of the robot.

[0064] When the displacement deviation rate is greater than or equal to the third preset threshold, it means that the position change of the robot is more drastic, and the restoring force of the robot is weak. When the displacement deviation rate is less than the third preset threshold, it means that the position change of the robot is relatively stable.

[0065] By comparing the displacement deviation rate with the third preset threshold, the corresponding position change of the robot is determined, and then the stiffness coefficient of the robot is adjusted in real time according to the corresponding position change of the robot, so as to enhance the restoring force of the robot when the corresponding position change of the robot is drastic. And when the corresponding position change of the robot is relatively stable, the flexibility of the robot is enhanced.

[0066] The specific value of the third preset threshold value may be determined according to the effects of the robot's restoring force and the robot's compliance when the third preset threshold value has different values.

[0067] Furthermore, in some embodiments, the step of determining an adjustment strategy for a current stiffness coefficient of the robot based on a displacement deviation rate and a third preset threshold value may include the steps of: when the displacement deviation rate is greater than a third change rate threshold value, increasing the current stiffness coefficient of the robot based on the current stiffness coefficient of the robot and the displacement deviation rate to improve the restoring force of the robot.

[0068] When the displacement deviation rate is greater than the third preset threshold, it indicates that the corresponding position of the robot changes drastically. The robot's restoring force is improved by increasing the current stiffness coefficient of the robot.

[0069] In some embodiments, the step of determining an adjustment strategy for a current stiffness coefficient of the robot based on a displacement deviation rate and a third preset threshold value may include the steps of: when the displacement deviation rate is less than a third change rate threshold value, reducing the current stiffness coefficient of the robot based on the current stiffness coefficient of the robot and the displacement deviation rate to improve the compliance of the robot.

[0070] When the displacement deviation rate is less than the third preset threshold, it indicates that the corresponding position change of the robot is relatively stable, and the flexibility of the robot is improved by reducing the current stiffness coefficient of the robot.

[0071] In a specific embodiment, the step of determining the adjustment strategy of the current stiffness coefficient of the robot includes the steps of: determining a third target equation in a third adjustment equation group to determine the adjustment strategy of the current stiffness coefficient of the robot.

[0072] The third adjustment equation group includes multiple equations. According to the relationship between the displacement deviation rate and the third change rate threshold, the corresponding equation is determined in the third adjustment equation group to increase the current stiffness coefficient of the robot; or the corresponding equation is determined in the third adjustment equation group to reduce the current stiffness coefficient of the robot.

[0073] Among them, the expression of the third adjustment equation group is shown as: ; in, is the final stiffness coefficient of the robot; is the current stiffness coefficient of the robot; Adjust the gain factor for stiffness; is the displacement deviation rate of the current robot.

[0074] When the displacement deviation rate is greater than or equal to the third preset threshold, the first equation in the third adjustment equation group is determined as the third target equation, and the corresponding stiffness coefficient of the robot after adjustment is calculated by the third target equation to increase the stiffness coefficient of the robot, thereby improving the restoring force of the robot.

[0075] When the displacement deviation rate is less than the third preset threshold, the second equation in the third adjustment equation group is determined as the third target equation, and the corresponding stiffness coefficient of the robot after adjustment is calculated by the third target equation to reduce the stiffness coefficient of the robot and enhance the compliance of the robot.

[0076] In step 150, the acceleration parameters of the robot are determined according to the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient, so that the robot performs adaptive adjustment according to the acceleration parameters.

[0077] The acceleration parameters of the robot are determined according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so as to dynamically adjust the acceleration parameters of the robot according to the changes in external force and environmental requirements, so that the robot can be adaptively adjusted according to the acceleration parameters.

[0078] For example, after the robot determines the acceleration parameters according to the changes in external force and environmental requirements, the robot updates the corresponding speed parameters and position parameters according to the acceleration parameters. The robot then moves according to the updated speed parameters and position parameters to achieve dynamic and compliant response of the robot.

[0079] Specifically, in some embodiments, the step of determining the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient, so that the robot performs adaptive adjustment according to the acceleration parameter, may include the following steps: (1) Determine the acceleration parameters of the robot based on the adjusted virtual mass, the adjusted damping coefficient, the adjusted stiffness coefficient, the external force parameters, the velocity parameters, and the position parameters corresponding to the current robot.

[0080] (2) Determine the robot's adjusted speed parameters based on the current robot's corresponding speed parameters and acceleration parameters.

[0081] (3) Determine the adjusted position parameters of the robot based on the current corresponding position parameters of the robot and the adjusted speed parameters.

[0082] (4) Control the robot to move according to the adjusted speed parameters and the adjusted position parameters.

[0083] The robot calculates based on the adjusted virtual mass, the adjusted damping coefficient, the adjusted stiffness coefficient, the external force parameters, the speed parameters, and the position parameters corresponding to the current robot to determine the acceleration parameters of the robot. Specifically: In some embodiments, the step of determining the adaptively adjusted acceleration parameters of the robot based on the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient may include: determining the acceleration parameters of the robot based on the adjusted virtual mass, the adjusted damping coefficient, the adjusted stiffness coefficient, and the acceleration determination equation.

[0084] The robot determines the severity of the external force applied to the target object according to the relationship between the external force change rate and the first change rate threshold, so as to increase or decrease the virtual mass corresponding to the target object, thereby adjusting the responsiveness of the robot; the robot also increases or decreases the current damping coefficient of the robot according to the relationship between the speed change rate and the second change rate threshold, thereby slowing down the oscillation of the robot and improving the stability and responsiveness of the robot; the robot also increases or decreases the current stiffness coefficient of the robot according to the relationship between the displacement deviation rate and the third change rate, thereby improving the robot's resilience and compliance.

[0085] After the robot determines the adjusted virtual mass, damping coefficient and stiffness coefficient according to the external force change and environmental requirements, it determines the acceleration parameters according to the adjusted virtual mass, damping coefficient and stiffness coefficient through the acceleration determination equation.

[0086] In one embodiment, the acceleration determination equation is expressed as: ; in, It is the acceleration parameter after adaptive adjustment of the robot; is the external force parameter of the current robot; is the final damping coefficient of the robot; is the speed parameter of the current robot; is the final stiffness coefficient of the robot; is the current robot position parameter; is the final damping coefficient of the robot.

[0087] It is understandable that the present application does not limit the specific expression of the acceleration determination equation, and the specific expression of the acceleration determination equation can be flexibly adjusted according to actual conditions. For example, the acceleration determination equation can also be expressed as ), k is a fixed coefficient.

[0088] In some embodiments, the robot may obtain the adjusted speed parameter of the robot through a first formula, and the expression of the first formula may be: + ; in, is the speed parameter after adaptive adjustment; is the speed parameter before adaptive adjustment; is the acceleration parameter of the robot; For time period.

[0089] In some embodiments, the robot may obtain the adjusted speed parameter of the robot through a second formula, and the expression of the second formula may be: = ; in, is the position parameter after adaptive adjustment; is the position parameter before adaptive adjustment; is the speed parameter after adaptive adjustment; For time period.

[0090] In some embodiments, the robot includes a calculation module and a control module. The calculation module is used to increase or decrease the virtual mass corresponding to the target object according to the external force change rate, the first change rate threshold and the first adjustment equation group; the calculation module is also used to increase or decrease the current damping coefficient of the robot according to the speed change rate, the second change rate threshold and the second adjustment equation group; the calculation module is also used to increase or decrease the current stiffness coefficient of the robot according to the displacement deviation rate, the third change rate and the third adjustment equation group. The calculation module is also used to determine the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient. The calculation module is also used to determine the speed parameter and position parameter after adaptive adjustment according to the acceleration parameter of the robot, the first formula and the second formula. Then send the adaptively adjusted speed parameter and position parameter to the control module. The control module controls the movement of the robot according to the adaptively adjusted speed parameter and position parameter.

[0091] In some embodiments, the robot includes an adaptive adjustment module, which is used to adjust the specific values ​​of the first preset threshold, the second preset threshold, and the third preset threshold according to changes in the external environment.

[0092] Exemplarily, the adaptive adjustment module internally stores a first preset comparison table. The first preset comparison table includes a first preset threshold, a second preset threshold, and a third preset threshold corresponding to different external environments, and the smoothness of the robot response and the robot responsiveness corresponding to different first preset thresholds, second preset thresholds, and third preset thresholds. The adaptive adjustment module determines the specific values ​​corresponding to the first preset threshold, the second preset threshold, and the third preset threshold in the first preset comparison table according to the current external environment, the smoothness of the robot response, and the robot responsiveness.

[0093] Exemplarily, the adaptive adjustment module also stores a second preset comparison table. The second preset comparison table includes the smoothness of the robot response and the robot responsiveness corresponding to different values ​​of the mass adjustment gain factor, the damping adjustment gain factor and the stiffness adjustment gain factor corresponding to different external environments. The adaptive adjustment module determines the specific values ​​corresponding to the mass adjustment gain factor, the damping adjustment gain factor and the stiffness adjustment gain factor in the second preset comparison table according to the current external environment, the smoothness of the robot response and the robot responsiveness.

[0094] The adaptive adjustment module can be used to further determine the parameters suitable for the current external environment, so that the robot moves according to the speed parameters and position parameters obtained by adaptively adjusting the acceleration parameters, which can effectively improve the robot's compliance control and response stability.

[0095] See also Figure 2 , Figure 2 A schematic diagram of the structure of a control device provided in an embodiment of the present application is shown, which is applied to a robot. The control device 200 includes: a first determination module 210, a second determination module 220, a third determination module 230, a fourth determination module 240 and a fifth determination module 250. Specifically: A first determination module 210 is used to determine the external force change rate, speed change rate and displacement deviation rate of the current robot; The second determination module 220 is used to determine the adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is a robot end tool; A third determination module 230 is used to determine an adjustment strategy for the current damping coefficient of the robot according to the speed change rate and the second preset threshold value, so as to determine an adjusted damping coefficient of the robot; The fourth determination module 240 is used to determine the adjustment strategy of the current stiffness coefficient of the robot according to the displacement deviation rate and the third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; The fifth determination module 250 is used to determine the acceleration parameters of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot performs adaptive adjustment according to the acceleration parameters.

[0096] 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 modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0097] In several embodiments provided in the present application, the coupling or direct coupling or communication connection between the modules shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or modules, which may be electrical, mechanical or other forms.

[0098] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0099] See also Figure 3 , Figure 3A schematic diagram of the structure of a robot provided in an embodiment of the present application is shown. The robot 300 in the present application may include one or more of the following components: a processor 310, a memory 320, and one or more applications, wherein the one or more applications may be stored in the memory 320 and configured to be executed by one or more processors 310, and the one or more programs are configured to execute the anti-light leakage method as described in the aforementioned method embodiment.

[0100] The processor 310 may include one or more processing cores. The processor 310 uses various interfaces and lines to connect various parts of the entire terminal device 300, and executes various functions and processes data of the terminal device 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 320, and calling data stored in the memory 320. Optionally, the processor 310 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 310 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 310, but may be implemented separately through a communication chip.

[0101] The memory 320 may include a random access memory (RAM) or a read-only memory (ROM). The memory 320 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 320 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, instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the terminal device 300 during use.

[0102] See also Figure 4 , Figure 4A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application is shown. The computer-readable medium 400 stores program code, and the program code can be called by a processor to execute the cooking control method described in the above method embodiment.

[0103] The computer-readable storage medium 400 may 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 400 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 400 has storage space for program codes 410 for executing any method steps in the above method. These program codes may be read from or written to one or more computer program devices. The program code 410 may be compressed, for example, in an appropriate form.

[0104] The technical solution provided by the present application is applied to a robot, and the control method includes: determining the external force change rate, speed change rate and displacement deviation rate of the current robot; determining the adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is an object grasped by the robot; determining the adjustment strategy of the current damping coefficient of the robot according to the speed change rate and the second preset threshold value, so as to determine the adjusted damping coefficient of the robot; determining the adjustment strategy of the current stiffness coefficient of the robot according to the displacement deviation rate and the third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; determining the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameter. Thus, the robot adjusts the virtual mass of the target object, the damping coefficient and the stiffness coefficient of the robot in real time according to the changes in the external environment, so as to determine the acceleration parameter suitable for the current external environment, so that the robot can perform adaptive adjustment according to the acceleration parameter, so as to move according to the adaptively adjusted speed parameter and position parameter, thereby improving the compliance control and response stability of the robot in a dynamic environment.

[0105] 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 it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method, characterized in that: Applied to a robot, the method comprises: Determine the current external force change rate, speed change rate and displacement deviation rate of the robot; Determine an adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and a first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is the robot end tool; Determining an adjustment strategy for the current damping coefficient of the robot according to the speed change rate and a second preset threshold value, so as to determine an adjusted damping coefficient of the robot; Determining an adjustment strategy for the current stiffness coefficient of the robot according to the displacement deviation rate and a third preset threshold value, so as to determine the adjusted stiffness coefficient of the robot; The acceleration parameters of the robot are determined according to the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient, so that the robot performs adaptive adjustment according to the acceleration parameters.

2. The control method according to claim 1, characterized in that: The robot includes a detection module disposed at the end, and the determining the current external force change rate of the robot includes: Determine the external force parameters of the robot in the first coordinate system through the detection module; The current external force change rate of the robot is determined according to the external force parameter.

3. The control method according to any one of claims 1-2, characterized in that: The step of determining an adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and the first preset threshold value includes: When the external force change rate is greater than a first change rate threshold, increasing the virtual mass corresponding to the target object according to the current virtual mass of the target object and the external force change rate, so as to slow down the responsiveness of the robot; And / or, when the external force change rate is less than the first change rate threshold, the virtual mass corresponding to the target object is reduced according to the current virtual mass of the target object and the external force change rate to improve the responsiveness of the robot.

4. The control method according to any one of claims 1-2, characterized in that: The step of determining an adjustment strategy for the current damping coefficient of the robot according to the speed change rate and a second preset threshold value includes: When the speed change rate is greater than a second change rate threshold, increasing the current damping coefficient of the robot according to the current damping coefficient of the robot and the speed change rate to slow down the oscillation of the robot; And / or, when the speed change rate is less than the second change rate threshold, the current damping coefficient of the robot is reduced according to the current damping coefficient of the robot and the speed change rate to improve the compliance of the robot.

5. The control method according to any one of claims 1-2, characterized in that: The step of determining an adjustment strategy for the current stiffness coefficient of the robot according to the displacement deviation rate and a third preset threshold value to determine the adjusted stiffness coefficient of the robot includes: When the displacement deviation rate is greater than a third change rate threshold, increasing the current stiffness coefficient of the robot according to the current stiffness coefficient of the robot and the displacement deviation rate, so as to improve the restoring force of the robot; And / or, when the displacement deviation rate is less than the third change rate threshold, the current stiffness coefficient of the robot is reduced according to the current stiffness coefficient of the robot and the displacement deviation rate to improve the compliance of the robot.

6. The control method according to any one of claims 1-2, characterized in that: The step of determining the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient, so that the robot performs adaptive adjustment according to the acceleration parameter, comprises: Determine the acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient, the adjusted stiffness coefficient, the external force parameter, the speed parameter and the position parameter currently corresponding to the robot; Determining the adjusted speed parameter of the robot according to the current corresponding speed parameter of the robot and the acceleration parameter; Determining the adjusted position parameter of the robot according to the current corresponding position parameter of the robot and the adjusted speed parameter; The robot is controlled to move according to the adjusted speed parameter and the adjusted position parameter.

7. The control method according to claim 1, characterized in that: The determining of the adjustment strategy corresponding to the virtual mass of the target object includes: Determining a first target equation in the first adjustment equation group to determine an adjustment strategy corresponding to the virtual mass of the target object; The expression of the first adjustment equation group is shown as: ； in, is the final virtual mass of the target object; is the current virtual mass of the target object; is the quality adjustment gain factor; is the current rate of change of the external force of the robot; And / or, the adjustment strategy for determining the current damping coefficient of the robot includes: Determining a second target equation in the second adjustment equation group to determine an adjustment strategy for the current damping coefficient of the robot; The expression of the second adjustment equation group is shown as: ； in, is the final damping coefficient of the robot; is the damping coefficient corresponding to the robot currently; Adjust the gain factor for damping; is the current speed change rate of the robot; And / or, the adjustment strategy for determining the current stiffness coefficient of the robot includes: Determining a third target equation in the third adjustment equation group to determine an adjustment strategy for the current stiffness coefficient of the robot; The expression of the third adjustment equation group is shown as: ； in, is the final stiffness coefficient of the robot; is the current stiffness coefficient of the robot; Adjust the gain factor for stiffness; is the displacement deviation rate of the current robot; And / or, determining the adaptively adjusted acceleration parameter of the robot according to the adjusted virtual mass, the adjusted damping coefficient, and the adjusted stiffness coefficient comprises: The acceleration parameter of the robot is determined according to the adjusted virtual mass, the adjusted damping coefficient, the adjusted stiffness coefficient and the acceleration determination equation. Wherein, the acceleration determination equation is expressed as: ； in, is the acceleration parameter of the robot after adaptive adjustment; is the external force parameter of the current robot; is the final damping coefficient of the robot; is the speed parameter of the current robot; is the final stiffness coefficient of the robot; is the position parameter of the current robot; is the final damping coefficient of the robot.

8. A control device, characterized in that: Applied to a robot, the device comprises: A first determination module is used to determine the current external force change rate, speed change rate and displacement deviation rate of the robot; A second determination module is used to determine an adjustment strategy corresponding to the virtual mass of the target object according to the external force change rate and a first preset threshold value, so as to determine the adjusted virtual mass of the target object; the target object is the robot end tool; A third determination module, used to determine an adjustment strategy for the current damping coefficient of the robot according to the speed change rate and a second preset threshold value, so as to determine an adjusted damping coefficient of the robot; a fourth determination module, configured to determine an adjustment strategy for a current stiffness coefficient of the robot according to the displacement deviation rate and a third preset threshold value, so as to determine an adjusted stiffness coefficient of the robot; The fifth determination module is used to determine the acceleration parameters of the robot according to the adjusted virtual mass, the adjusted damping coefficient and the adjusted stiffness coefficient, so that the robot can perform adaptive adjustment according to the acceleration parameters.

9. A robot, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and are configured to be executed by the one or more processors according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes can be called by a processor to execute the control method according to any one of claims 1 to 7.

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