Control method and device of massage robot and electronic equipment

Abstract

The invention provides a control method and device of a massage robot and electronic equipment, the massage robot comprises a mechanical arm and a massage head, the massage head is located at the tail end of the mechanical arm, and the method comprises the steps that the current actual pressing force of the massage head is obtained in real time; the pressing force error of the massage head is determined based on the difference value between the actual pressing force and the set pressing force; when the pressing force error is larger than a preset error threshold value, the descending speed of the mechanical arm is controlled based on the pressing force error; wherein the descending speed of the mechanical arm is reduced along with the reduction of the pressing force error. The descending speed of the mechanical arm is adjusted in real time according to the pressing force error of the massage head, the descending speed of the mechanical arm is controlled to be correspondingly reduced when the pressing force error is gradually reduced, the pressing error generated by the descending speed of the mechanical arm can be reduced, and the pressing force is closer to the set pressing force when the massage head makes contact with the massage point; the discomfort of a massage object caused by overlarge pressing force is avoided, and the massage comfort is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a control method, device and electronic equipment for a massage robot. Background Art

[0002] At present, the application of massage robots is becoming more and more extensive, and the requirements for comfort are also getting higher and higher. After determining the massage position, the existing massage robot control will directly control the mechanical arm to drive the massage head to the target point for massage. When the massage head contacts the target point, the pressure error of the massage head will decrease as the mechanical arm continues to descend. When the pressure error is less than a certain threshold, the mechanical arm stops descending and the massage head starts to run the massage trajectory. However, when the robot arm is given a stop descent command, it cannot stop immediately due to the certain speed of the mechanical arm, but continues to descend for a certain distance before stopping, resulting in a large pressure on the target point. The pressure of the massage head has a large deviation, which makes the massage object feel uncomfortable and reduces the comfort of the massage. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a control method, device and electronic equipment for a massage robot, which can reduce the pressing error caused by the descending speed of the robotic arm, so that the massage head is closer to the set pressing force when contacting the massage point, avoiding excessive pressing pressure that causes discomfort to the massage object, and improving the massage comfort.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a control method for a massage robot, wherein the massage robot comprises a mechanical arm and a massage head, wherein the massage head is located at the end of the mechanical arm, and the method comprises:

[0006] Acquire the current actual pressing force of the massage head in real time;

[0007] determining a pressing force error of the massage head based on a difference between the actual pressing force and the set pressing force;

[0008] When the pressing force error is greater than a preset error threshold, the descending speed of the robotic arm is controlled based on the pressing force error; wherein the descending speed of the robotic arm decreases as the pressing force error decreases.

[0009] Further, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the step of controlling the descending speed of the robotic arm based on the pressing force error comprises:

[0010] When the ratio of the pressing force error to the set pressing force is less than or equal to a preset threshold, the descending speed of the robotic arm is determined in real time based on the ratio of the pressing force error to the set pressing force, and the robotic arm is controlled to drive the massage head to move downward at the descending speed; wherein the descending speed of the robotic arm is directly proportional to the ratio.

[0011] Furthermore, the embodiment of the present invention provides a second possible implementation of the first aspect, wherein the control method of the massage robot further includes:

[0012] When the ratio of the pressing force error to the set pressing force is greater than the preset threshold, the mechanical arm is controlled to drive the massage head to move downward at a uniform speed at the initial speed.

[0013] Furthermore, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the descending speed of the robotic arm is the product of the ratio of the pressing force error to the set pressing force and the initial speed.

[0014] Furthermore, the embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the step of controlling the mechanical arm to drive the massage head to move downward at the descending speed comprises:

[0015] Determine the moving distance of the end of the robotic arm based on the descending speed, and determine the rotation amount of each axis of the robotic arm by performing inverse kinematics calculation based on the moving distance;

[0016] Based on the rotation amount, the mechanical arm is controlled to drive the massage head at the end to move.

[0017] Furthermore, the embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the control method of the massage robot further includes:

[0018] It is determined whether the descent speed is less than a preset speed lower limit, and if so, the descent speed is determined to be the preset speed lower limit.

[0019] Furthermore, the embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the control method of the massage robot further includes:

[0020] When the pressing force error is less than or equal to the preset error threshold, the robotic arm is controlled to stop descending.

[0021] In a second aspect, an embodiment of the present invention further provides a control device for a massage robot, the massage robot comprising a mechanical arm and a massage head, the massage head being located at the end of the mechanical arm, the device comprising:

[0022] An acquisition module, used for acquiring the current actual pressing force of the massage head in real time;

[0023] a determination module, configured to determine a pressing force error of the massage head based on a difference between the actual pressing force and a set pressing force;

[0024] A control module is used to control the descending speed of the robotic arm based on the pressing force error when the pressing force error is greater than a preset error threshold; wherein the descending speed of the robotic arm decreases as the pressing force error decreases.

[0025] In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor and a storage device;

[0026] The storage device stores a computer program, and when the computer program is executed by the processor, the method according to any one of the first aspects is executed.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any one of the above-mentioned first aspects are executed.

[0028] The embodiment of the present invention provides a control method, device and electronic device for a massage robot, wherein the massage robot includes a mechanical arm and a massage head, wherein the massage head is located at the end of the mechanical arm, and the method includes: obtaining the current actual pressing force of the massage head in real time; determining the pressing force error of the massage head based on the difference between the actual pressing force and the set pressing force; when the pressing force error is greater than a preset error threshold, controlling the descending speed of the mechanical arm based on the pressing force error; wherein the descending speed of the mechanical arm decreases as the pressing force error decreases. The present invention adjusts the descending speed of the mechanical arm in real time according to the pressing force error of the massage head, and controls the descending speed of the mechanical arm to decrease accordingly when the pressing force error gradually decreases, thereby reducing the pressing error caused by the descending speed of the mechanical arm, making the massage head closer to the set pressing force when contacting the massage point, avoiding excessive pressing force that causes discomfort to the massage object, and improving the massage comfort.

[0029] Other features and advantages of the embodiments of the present invention will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned techniques of the embodiments of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A flow chart of a control method for a massage robot provided by an embodiment of the present invention is shown;

[0033] Figure 2 A schematic structural diagram of a massage robot provided by an embodiment of the present invention is shown;

[0034] Figure 3 A control block diagram of a mechanical arm descending speed provided by an embodiment of the present invention is shown;

[0035] Figure 4a A curve diagram showing actual pressing force variation of a massage head provided by an embodiment of the present invention is shown;

[0036] Figure 4b A curve diagram showing a change in the descending speed of a mechanical arm provided by an embodiment of the present invention is shown;

[0037] Figure 4c A force curve diagram at the beginning of a massage provided by an embodiment of the present invention is shown;

[0038] Figure 5a A curve diagram showing the actual pressure change of the massage head after the descending speed is reduced provided by an embodiment of the present invention;

[0039] Figure 5b A curve diagram showing a change in the descending speed of a mechanical arm after the descending speed is reduced is shown in an embodiment of the present invention;

[0040] Figure 5c A force curve diagram at the beginning of massage after the descending speed is reduced provided by an embodiment of the present invention is shown;

[0041] Figure 6 A schematic structural diagram of a control device for a massage robot provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be described below in conjunction with the drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0043] At present, people's demand for health care is growing, and massage robots are gradually becoming the new favorite of the market, gradually showing their great application value. After the massage robot determines the massage position, the robotic arm will move the massage end to the target point for massage. However, if it moves directly to the target point, the pressing force will have a large deviation from the set force, making the human body feel uncomfortable. In order to improve the stability and comfort of the massage, it is necessary to optimize the process of the robotic arm approaching the human body.

[0044] In order to improve the above problems, an embodiment of the present invention provides a control method, device and electronic device for a massage robot, and the embodiment of the present invention is introduced in detail below.

[0045] This embodiment provides a control method for a massage robot. Figure 1 The control method flow chart of the massage robot shown in the figure mainly includes the following steps:

[0046] Step S102, obtaining the current actual pressing force of the massage head in real time;

[0047] The actual pressing force of the massage head on the target point is detected in real time based on a sensor capable of detecting the pressing force.

[0048] See Figure 2 The massage robot structure diagram shown in FIG. 1 is a schematic diagram of a massage robot structure. The control method provided in this embodiment can be applied to Figure 2 The massage robot shown includes a mechanical arm 20 and a massage head 21 , wherein the massage head 21 is disposed at the end of the mechanical arm 20 .

[0049] In a specific implementation, a force sensor is disposed at the end of the robotic arm, and the force sensor detects the external force in real time to obtain the current actual pressing force of the massage head.

[0050] When the robotic arm reaches the top of the massage target point, it moves vertically downward at the initial speed, and the force sensor detects the actual pressing force of the massage head in real time. In one embodiment, the force sensor can transmit the actual pressing force detected in real time to the controller, so that the controller controls the robotic arm based on the actual pressing force.

[0051] Step S104, determining a pressing force error of the massage head based on a difference between the actual pressing force and the set pressing force;

[0052] The difference between the actual pressing force and the set pressing force is calculated to obtain the pressing force error F_err of the massage head = set pressing force - actual pressing force.

[0053] Step S106, when the pressing force error is greater than a preset error threshold, controlling the descending speed of the robot arm based on the pressing force error;

[0054] When the pressure error is greater than the preset error threshold, the descending speed of the robot arm is controlled in real time based on the pressure error. When the pressure error is greater than the preset error threshold, it indicates that the current pressing force of the massage head is far less than the set pressing force required for massage, and the massage head has not yet descended to the massage target point. It is necessary to control the robot arm to continue to descend, so that the descending speed of the robot arm decreases as the pressure error decreases. As the actual pressing force of the robot arm descends, the pressure error becomes smaller and smaller. When the pressing force is small, the descending speed of the robot arm is controlled to gradually decrease, so that the robot arm can stop quickly when receiving the stop descent command, avoiding continuing to descend due to a high speed when receiving the stop descent command, thereby avoiding the massage head from continuing to descend and applying a large pressing force to the target massage point.

[0055] In one implementation, the method provided in this embodiment further includes: when the pressing force error is less than or equal to a preset error threshold, controlling the robotic arm to stop descending.

[0056] When the pressure error is less than or equal to the preset error threshold, it indicates that the current pressure of the massage head is close to the set pressure required for massage, and the massage head has reached the massage target point. The controller sends a stop descending instruction to the robotic arm to control the robotic arm to stop descending and start driving the massage head to run the massage trajectory. The preset error threshold can be a value close to 0, so as to ensure that the actual pressure of the massage head is equal to the set pressure.

[0057] The control method of the massage robot provided in this embodiment can reduce the pressing error caused by the descending speed of the robotic arm by adjusting the descending speed of the robotic arm in real time according to the pressing force error of the massage head, and controlling the descending speed of the robotic arm to decrease accordingly when the pressing force error gradually decreases. This makes the massage head closer to the set pressing force when contacting the massage point, avoids excessive pressing pressure that may cause discomfort to the massage object, and improves the massage comfort.

[0058] In one embodiment, this embodiment provides an implementation method for controlling the descending speed of the robot arm based on the pressing force error, which can be specifically performed with reference to the following steps:

[0059] Step (1): when the ratio of the pressing force error to the set pressing force is less than or equal to a preset threshold, the descending speed of the robotic arm is determined in real time based on the ratio of the pressing force error to the set pressing force, and the robotic arm is controlled to drive the massage head to move downward at the descending speed;

[0060] The ratio F_err / F_tar of the pressing force error F_err and the set pressing force F_tar is calculated to determine whether the ratio is less than or equal to a preset threshold. The preset threshold may be 0.4 to 0.6, with a preferred value of 0.5.

[0061] When the ratio F_err / F_tar of the pressing force error F_err to the set pressing force F_tar is less than or equal to a preset threshold, it indicates that the actual pressing force of the massage head is close to the set pressing force, the massage head is about to reach the target massage point, and the descending distance required by the robotic arm is small. Calculate the descending speed of the robotic arm in real time based on the ratio F_err / F_tar of the pressing force error F_err to the set pressing force F_tar to update the descending speed of the robotic arm in real time. The descending speed of the above-mentioned robotic arm is in a direct proportional relationship with the ratio, that is, the smaller the ratio, the smaller the descending speed of the robotic arm.

[0062] In a specific implementation manner, the descending speed of the robotic arm provided in this embodiment is the product of the ratio of the pressing force error to the set pressing force and the initial speed.

[0063] To avoid the above-mentioned descending speed from being too small, the method provided in this embodiment further includes: determining whether the descending speed is less than a preset speed lower limit, and if so, determining the descending speed to be the preset speed lower limit.

[0064] To avoid the descending speed of the robotic arm from being too slow, this embodiment sets a lower limit v_lim for the descending speed of the robotic arm. When the calculated descending speed v of the robotic arm is < v_lim, let the descending speed v = v_lim to ensure that the massage head can reach the massage target point as soon as possible.

[0065] Step (2): When the ratio of the pressing force error to the set pressing force is greater than the preset threshold, control the robotic arm to drive the massage head to move downward at a constant speed with the initial speed.

[0066] When the ratio F_err / F_tar of the pressing force error F_err to the set pressing force F_tar is greater than the preset threshold, it indicates that the difference between the actual pressing force of the massage head and the set pressing force is large, and the massage head is still far from the massage point. The robotic arm can still be controlled to descend at the initial speed v0 to ensure the descending speed of the robotic arm.

[0067] The calculation formula for the descending speed of the above-mentioned robotic arm is:

[0068]

[0069] In one implementation manner, determine the moving distance of the end of the robotic arm based on the descending speed, perform inverse kinematics calculation based on the moving distance to determine the rotation amount of each axis of the robotic arm; control the robotic arm to drive the massage head at the end to move based on the rotation amount.

[0070] After calculating the descending speed of the robotic arm, perform an integral operation on the descending speed to obtain the displacement s required for the end of the robotic arm:

[0071]

[0072] Wherein, v is the descending speed of the robot arm in the i-th control cycle, and s is the calculated displacement required by the robot arm in the i-th control cycle.

[0073] See Figure 3 As shown in the control block diagram of the robot arm's descending speed, Fr is the set pressing force, F_sensor is the six-dimensional force sensor data, F_act is the force data after calculation, that is, the actual force (actual pressing force) at the end of the massage head, err (also known as F_err) is the pressing force error (err = Fr-F_act), and it is judged whether the pressing force error is less than the preset error threshold err_min. If so, the robot arm is controlled to start running the massage trajectory; if the pressing force error is greater than the preset error threshold err_min, the descending speed v of the robot arm is calculated, and the descending speed v of the robot arm is input into the integrator for integral calculation to obtain the displacement s required for the robot arm, and the displacement s of the robot arm is inversely kinematically calculated to obtain the rotation amount qu of each axis of the robot arm. Through forward kinematics, the robot arm moves with the end massage head. During the movement of the massage head, the force sensor will sense the external force in real time to obtain the actual pressing force F_act, and the actual pressing force F_act is fed back to the controller so that the controller calculates the pressing force error.

[0074] The control method of the massage robot provided in this embodiment adjusts the descending speed of the robot arm in real time according to the pressing force error of the massage head, so that the pressing force of the massage head is accurate when contacting the massage target point, thereby reducing the pressing force error and improving the massage comfort of the massage robot.

[0075] See Figure 4a The actual pressure change curve of the massage head shown in the figure, Figure 4b The robot arm descending speed change curve shown in Figure 4c As shown in the force curve diagram at the beginning of massage, this embodiment provides a curve of the actual pressing force of the massage head detected by the force sensor, the descending speed of the robotic arm, and the pressing force at the beginning of massage by using the existing robotic arm descending speed control technology. When the pressing force is set to 7.5N and the robotic arm is controlled to descend at an initial speed of 0.02m / s.

[0076] Corresponding to the control method of the massage robot provided in the above embodiment, assuming that the pressing force is set to 7.5N and the initial descending speed is 0.02m / s, the embodiment of the present invention provides a curve of the actual pressing force of the massage head detected by the force sensor, the descending speed of the mechanical arm, and the pressing force at the beginning of the massage after the descending speed of the mechanical arm of the massage robot is controlled by the control method of the above massage robot, see FIG. Figure 5a The actual pressure change curve of the massage head after the control descending speed is reduced is shown in the figure. Figure 5bThe curve of the robot arm's descending speed after the controlled descending speed is reduced is shown in the figure. Figure 5c The force curve at the beginning of massage after the control descent speed is reduced is shown in the figure. Figure 4a to Figure 4c and Figure 5a to Figure 5c It can be seen that after the descending speed of the control robot arm is reduced, the actual pressing force change of the massage head has obvious buffering, and the pressing force of the massage head at the beginning of the massage (7.98N) is closer to the set pressing force than the pressing force of the massage head in the existing speed control (16.52N). Therefore, the control method of the massage robot provided in this embodiment reduces the pressing force when the massage head reaches the massage point while ensuring the descending speed of the massage head, thereby improving the pressing comfort.

[0077] Corresponding to the control method of the massage robot provided in the above embodiment, the embodiment of the present invention provides a control device of the massage robot, see Figure 6 The control device structure diagram of a massage robot shown in FIG. 1 includes the following modules:

[0078] An acquisition module 61 is used to acquire the current actual pressing force of the massage head in real time;

[0079] A determination module 62, for determining a pressing force error of the massage head based on a difference between an actual pressing force and a set pressing force;

[0080] The control module 63 is used to control the descending speed of the robot arm based on the pressing force error when the pressing force error is greater than a preset error threshold; wherein the descending speed of the robot arm decreases as the pressing force error decreases.

[0081] The control device of the massage robot provided in this embodiment can reduce the pressing error caused by the descending speed of the robotic arm by adjusting the descending speed of the robotic arm in real time according to the pressing force error of the massage head, and controlling the descending speed of the robotic arm to decrease accordingly when the pressing force error gradually decreases. This makes the massage head closer to the set pressing force when contacting the massage point, avoids excessive pressing pressure that may cause discomfort to the massage object, and improves the massage comfort.

[0082] In one embodiment, the control module 63 is further used to determine the descending speed of the robotic arm in real time based on the ratio of the pressing force error to the set pressing force when the ratio of the pressing force error to the set pressing force is less than or equal to a preset threshold value, and control the robotic arm to drive the massage head to move downward at the descending speed; wherein the descending speed of the robotic arm is directly proportional to the ratio.

[0083] In one embodiment, the control module 63 is further configured to control the mechanical arm to drive the massage head to move downward at a constant speed at an initial speed when the ratio of the pressing force error to the set pressing force is greater than a preset threshold.

[0084] In one embodiment, the descending speed of the robot arm is the product of the ratio of the pressing force error to the set pressing force and the initial speed.

[0085] In one embodiment, the control module 63 is further used to determine the moving distance of the end of the robotic arm based on the descending speed, perform inverse kinematics calculation based on the moving distance to determine the rotation amount of each axis of the robotic arm; and control the robotic arm to drive the massage head at the end to move based on the rotation amount.

[0086] In one embodiment, the control module 63 is further configured to determine whether the descent speed is less than a preset speed lower limit, and if so, determine that the descent speed is the preset speed lower limit.

[0087] In one embodiment, the above device further comprises:

[0088] The second control module is used to control the robotic arm to stop descending when the pressing force error is less than or equal to a preset error threshold.

[0089] The control device of the massage robot provided in this embodiment adjusts the descending speed of the robot arm in real time according to the pressing force error of the massage head, so that the pressing force of the massage head is accurate when contacting the massage target point, thereby reducing the pressing force error and improving the massage comfort of the massage robot.

[0090] The implementation principle and technical effects of the device provided in this embodiment are the same as those of the aforementioned embodiments. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0091] An embodiment of the present invention provides an electronic device, which includes a processor and a memory. The memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps of the method provided in the above embodiment are implemented.

[0092] An embodiment of the present invention provides a computer-readable medium, wherein the computer-readable medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method described in the above embodiment.

[0093] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned embodiment, and will not be repeated here.

[0094] The computer program product of the massage robot control method provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0095] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0096] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0097] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0098] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for a massage robot, the massage robot comprising a mechanical arm and a massage head, the massage head being located at the end of the mechanical arm, characterized in that: The method comprises: Acquire the current actual pressing force of the massage head in real time; determining a pressing force error of the massage head based on a difference between the actual pressing force and the set pressing force; When the pressing force error is greater than a preset error threshold, the descending speed of the robotic arm is controlled based on the pressing force error; wherein the descending speed of the robotic arm decreases as the pressing force error decreases.

2. The control method of the massage robot according to claim 1, characterized in that: The step of controlling the descending speed of the robot arm based on the pressing force error comprises: When the ratio of the pressing force error to the set pressing force is less than or equal to a preset threshold, the descending speed of the robotic arm is determined in real time based on the ratio of the pressing force error to the set pressing force, and the robotic arm is controlled to drive the massage head to move downward at the descending speed; wherein the descending speed of the robotic arm is directly proportional to the ratio.

3. The control method of the massage robot according to claim 2, characterized in that: Also includes: When the ratio of the pressing force error to the set pressing force is greater than the preset threshold, the mechanical arm is controlled to drive the massage head to move downward at a uniform speed at the initial speed.

4. The control method of the massage robot according to claim 3, characterized in that: The descending speed of the robot arm is the product of the ratio of the pressing force error to the set pressing force and the initial speed.

5. The control method of the massage robot according to claim 2, characterized in that: The step of controlling the mechanical arm to drive the massage head to move downward at the descending speed comprises: Determine the moving distance of the end of the robotic arm based on the descending speed, and determine the rotation amount of each axis of the robotic arm by performing inverse kinematics calculation based on the moving distance; Based on the rotation amount, the mechanical arm is controlled to drive the massage head at the end to move.

6. The control method of the massage robot according to claim 2, characterized in that: Also includes: It is determined whether the descent speed is less than a preset speed lower limit, and if so, the descent speed is determined to be the preset speed lower limit.

7. The control method of the massage robot according to any one of claims 1 to 6, characterized in that: Also includes: When the pressing force error is less than or equal to the preset error threshold, the robotic arm is controlled to stop descending.

8. A control device for a massage robot, the massage robot comprising a mechanical arm and a massage head, the massage head being located at the end of the mechanical arm, characterized in that: The device comprises: An acquisition module, used for acquiring the current actual pressing force of the massage head in real time; a determination module, configured to determine a pressing force error of the massage head based on a difference between the actual pressing force and a set pressing force; A control module is used to control the descending speed of the robotic arm based on the pressing force error when the pressing force error is greater than a preset error threshold; wherein the descending speed of the robotic arm decreases as the pressing force error decreases.

9. An electronic device, characterized in that: include: processor and storage device; The storage device stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are performed.

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