Method, device, equipment and medium for motion control of end tool

Abstract

The present disclosure relates to a motion control method, device, equipment and medium of an end tool. The method comprises: when the external force and the external torque suffered by the end tool in the current period are acquired, if the control mode of the end tool is the locking mode, determining the rebound force and the rebound torque of the end tool in the current period; determining the recommended path boundary and the recommended attitude boundary based on the position, the preset recommended path, the attitude and the preset recommended attitude of the end tool in the current period; determining the control force and the control torque of the end tool in the current period according to the external force, the rebound force, the external torque and the rebound torque; and controlling the motion position and the motion attitude of the end tool in the current period based on the control force and the control torque with the recommended path boundary and the recommended attitude boundary as the limiting conditions. In this way, the motion control method does not rely on the naked eye observation and the manual operation of the user, has the effect of guiding the user to operate the surgical robot, and is conducive to improving the operation execution effect of the surgical robot.

Description

Technical Field

[0001] This disclosure relates to the field of motion control technology for robots, and in particular to a motion control method, device, equipment and medium for an end-effector. Background Technology

[0002] Most current surgical robots perform tasks from the perspective of safety and flexibility, that is, while ensuring the safety and flexibility of the surgical robot, they give the operator a large operating space.

[0003] When operating a surgical robot, how to use the end effector within the operating space allowed by the end effector depends on the operator's visual observation and manual operation. The operator's fatigue level, individual patient differences, and limited field of vision can all affect the surgical robot's performance. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a motion control method, apparatus, device, and medium for an end-effector tool.

[0005] In a first aspect, this disclosure provides a motion control method for an end effector, including:

[0006] The control mode of the end-effector is determined in response to the external forces and torques acting on the end-effector in the current cycle.

[0007] If the control mode of the end effector is locked, determine the rebound force and rebound torque of the end effector in the current cycle;

[0008] Based on the position of the end effector in the current cycle and the preset recommended path, the recommended path boundary of the end effector in the current cycle is determined, and based on the attitude of the end effector in the current cycle and the preset recommended attitude, the recommended attitude boundary of the end effector in the current cycle is determined.

[0009] The control force of the end effector in the current cycle is determined based on the external force and the rebound force, and the control torque of the end effector in the current cycle is determined based on the external torque and the rebound torque.

[0010] Using the recommended path boundary and the recommended posture boundary of the current cycle as constraints, and based on the control force and control torque of the current cycle, the movement position and movement posture of the end effector in the current cycle are controlled.

[0011] Secondly, this disclosure provides a motion control device for an end-effector, comprising:

[0012] The first determining module is used to determine the control mode of the end tool in response to the external force and torque acting on the end tool in the current cycle;

[0013] The second determining module is used to determine the rebound force and rebound torque of the end tool in the current cycle if the control mode of the end tool is locked.

[0014] The third determining module is used to determine the recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and the preset recommended path, and to determine the recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and the preset recommended posture.

[0015] The fourth determining module is used to determine the control force of the end tool in the current cycle based on the external force and the rebound force, and to determine the control torque of the end tool in the current cycle based on the external torque and the rebound torque;

[0016] The motion control module is used to control the motion position and motion posture of the end effector in the current cycle, based on the control force and control torque of the current cycle, using the recommended path boundary and recommended posture boundary of the current cycle as constraints.

[0017] Thirdly, embodiments of this disclosure also provide an electronic device, the device comprising:

[0018] One or more processors;

[0019] Storage device for storing one or more programs.

[0020] When one or more programs are executed by one or more processors, the one or more processors implement the methods provided in the first aspect.

[0021] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method provided in the first aspect.

[0022] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0023] This disclosure discloses a motion control method, apparatus, device, and medium for an end-effector tool, comprising: determining a control mode for the end-effector tool in response to external forces and torques acting on it in the current cycle; if the control mode of the end-effector tool is a locked mode, determining the rebound force and rebound torque of the end-effector tool in the current cycle; determining a recommended path boundary for the end-effector tool in the current cycle based on its position and a preset recommended path, and determining a recommended posture boundary for the end-effector tool in the current cycle based on its posture and a preset recommended posture; determining a control force for the end-effector tool in the current cycle based on the external forces and rebound force, and determining a control torque for the end-effector tool in the current cycle based on the external torque and rebound torque; and controlling the motion position and motion posture of the end-effector tool in the current cycle based on the control force and control torque, using the recommended path boundary and recommended posture boundary of the current cycle as constraints. Therefore, when the robot's end effector is in locked mode, the recommended path and posture boundaries are periodically and dynamically determined. In each cycle, rebound force and torque guidance are provided to determine the control force and torque. Based on the recommended path and posture boundaries, control force, and control torque for each cycle, motion control of the end effector is achieved. This motion control method does not rely on the operator's visual observation or tactile feedback, and it can guide the operator in manipulating the surgical robot, thus improving the robot's operational efficiency. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A funnel-shaped boundary provided in an embodiment of this disclosure;

[0027] Figure 2 A conical boundary provided in an embodiment of this disclosure;

[0028] Figure 3 A schematic flowchart illustrating a motion control method for an end-effector provided in this embodiment of the present disclosure;

[0029] Figure 4 A schematic diagram of the structure of a motion control device for an end-effector provided in an embodiment of this disclosure;

[0030] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0032] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0033] In related technologies, when using a surgical robot to replace a joint, the position of the end effector on the surgical robot is required to be maintained when grinding the acetabulum. Figure 1 Within the funnel-shaped boundary shown, the end effector is required to maintain its orientation. Figure 2 The conical boundary shown is designed to ensure that the end tool will not damage the user's internal tissues when grinding the acetabulum.

[0034] However, when surgical robots control the movement of end-effectors within funnel-shaped and conical boundaries, the specific operation of the end-effectors still relies heavily on the operator's experience and feel. Therefore, this method of end-effector motion control is highly dependent on the operator.

[0035] In the motion control process of the end-effector, in order to reduce dependence on the user, the following is combined with... Figure 3 The motion control method for an end-effector provided in this disclosure will be described. In this disclosure, the motion control method for the end-effector can be executed by an electronic device. The electronic device can be a control device for a medical robot.

[0036] Figure 3 A schematic flowchart of a motion control method for an end-effector provided in an embodiment of this disclosure is shown.

[0037] like Figure 3 As shown, the motion control method for this end-effector may include the following steps.

[0038] S310, in response to the external forces and torques acting on the end tool in the current cycle, determine the control mode of the end tool.

[0039] In this embodiment, during the periodic movement of the end effector of the surgical robot, the force sensor on the surgical robot collects the external force and torque on the end effector in each cycle in real time. When the electronic device acquires the external force and torque, it initiates the process of detecting the control mode of the end effector.

[0040] Among them, external force can be understood as the force exerted by the user on the end effector, and external torque can be understood as the torque exerted by the user on the end effector.

[0041] The control mode of the terminal tool can be set or switched by the user during operation based on the mode settings of the human-computer interaction interface.

[0042] Optionally, the end effector's control modes include a locked mode and an unlocked mode. The locked mode is a non-mandatory locking mode. In this mode, rebound force or rebound torque guides the end effector to move along a preset recommended path or preset recommended posture. When the end effector moves to the preset recommended path or preset recommended posture, the boundary of the virtual wall is changed to the boundary of the preset recommended path or preset recommended posture, and the changed virtual wall boundary guides the end effector to continue moving along the preset recommended path or preset recommended posture. In the unlocked mode, the end effector can move based on position-restricted boundaries and posture-restricted boundaries designed for safety and flexibility.

[0043] S320. If the control mode of the end tool is locked, determine the rebound force and rebound torque of the end tool in the current cycle.

[0044] In this embodiment, when the control mode of the end tool is locked, the electronic device uses rebound force or rebound torque to guide the end tool to move towards a preset recommended path or preset recommended posture. When the end tool moves to the preset recommended path or preset recommended posture, the boundary of the virtual wall is changed to the boundary of the preset recommended path or the boundary of the preset recommended posture, and the changed virtual wall boundary guides the end tool to continue moving according to the preset recommended path or preset recommended posture.

[0045] The rebound force includes both magnitude and direction. Specifically, the magnitude of the rebound force is determined based on the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end effector. The direction of the rebound force is the direction of the line connecting the position to the projection point of the position on the recommended path.

[0046] The preset recommended path is a pre-configured movement path for the end effector. Optionally, the preset recommended path can be the central axis of the preset position boundary of the end effector. The preset position boundary can be understood as the maximum position boundary set based on flexibility and safety after taking into account obstacles encountered by the end effector during movement.

[0047] Optionally, the default recommended path for the end-user tool is... Figure 1 The central axis of the preset position boundary of the funnel shape shown.

[0048] Optionally, the rebound force can be determined in the following way:

[0049] Rebound force = Preset maximum rebound force / Radius of the preset position boundary * Distance between the position and the preset recommended path

[0050] The springback torque includes both its magnitude and direction. Specifically, the magnitude of the springback torque is determined based on the angle between the posture and the preset recommended posture, the preset maximum springback torque, and the angle corresponding to the preset posture boundary of the end effector. The direction of the springback torque is determined by cross-product of the posture and the preset recommended posture.

[0051] The preset recommended posture is a posture path pre-configured for the end effector. Optionally, the preset recommended posture can be the central axis of the preset posture boundary of the end effector. The preset posture boundary can be understood as the maximum posture boundary set based on flexibility and safety after taking into account obstacles encountered by the end effector during its movement.

[0052] For example, the default recommended posture for end-point tools is Figure 2 The central axis of the preset attitude boundary of the cone shape shown.

[0053] Optionally, the magnitude of the rebound torque can be determined in the following way:

[0054] Rebound torque magnitude = Preset maximum rebound torque / Angle corresponding to preset attitude boundary * Angle between attitude and preset recommended attitude

[0055] S330. Based on the position of the end tool in the current cycle and the preset recommended path, determine the recommended path boundary of the end tool in the current cycle, and based on the attitude of the end tool in the current cycle and the preset recommended attitude, determine the recommended attitude boundary of the end tool in the current cycle.

[0056] In this embodiment, the electronic device monitors the position of the end-effector tool in the current cycle and obtains a preset recommended path planned for the end-effector tool. Based on the position and the preset recommended path, the recommended path boundary of the end-effector tool in the current cycle is determined, that is, the position constraint boundary of the end-effector tool in the current cycle is determined. Similarly, the electronic device monitors the attitude of the end-effector tool in the current cycle and obtains a preset recommended attitude planned for the end-effector tool. Based on the attitude and the preset recommended attitude, the recommended attitude boundary of the end-effector tool in the current cycle is determined, that is, the attitude constraint boundary of the end-effector tool in the current cycle is determined.

[0057] The specific implementation method of "determining the recommended path boundary of the end tool in the current period based on the position of the end tool in the current period and the preset recommended path" in S330 includes, but is not limited to, the following methods: determining whether the distance between the position and the preset recommended path is less than a preset distance threshold; if the distance is less than the preset distance threshold, then the edge where the preset recommended path is located is taken as the recommended path boundary of the current period; if the distance is not less than the preset distance threshold, then the preset position boundary of the end tool is taken as the recommended path boundary of the current period.

[0058] The preset distance threshold is a pre-set distance used to determine the boundaries of the recommended path. Optionally, the preset distance threshold can be a very small value.

[0059] Understandably, if the distance between the location and the preset recommended path is less than the preset distance threshold, it means that the location is close to the preset recommended path, and the edge where the preset recommended path is located is used as the boundary of the recommended path for the current period. Conversely, if the distance between the location and the preset recommended path is not less than the preset distance threshold, it means that the location is far from the preset recommended path and may be closer to the maximum boundary of the location set for flexibility and security (i.e., the preset location boundary), and the preset location boundary is used as the boundary of the recommended path for the current period.

[0060] For example, in the preset recommended path is Figure 1 When the central axis of the funnel-shaped boundary is shown, if the electronic device determines the position of the end tool in the current cycle and... Figure 1 If the distance between the central axes (i.e., the preset recommended path) of the funnel-shaped boundary is less than the preset distance threshold, it indicates that the location is close to... Figure 1 The central axis of the funnel-shaped boundary can be directly... Figure 1 The edge containing the central axis of the funnel-shaped boundary serves as the recommended path boundary for the end-effector in the current cycle; conversely, if the electronic device determines the position of the end-effector in the current cycle... Figure 1 If the distance between the central axes (i.e., the preset recommended path) of the funnel-shaped boundary is not less than the preset distance threshold, it indicates that the location is far from the target location. Figure 1 The central axis of the funnel-shaped boundary may be closer to the funnel-shaped boundary (i.e., the preset position boundary), so it can be directly... Figure 1 The funnel-shaped boundary serves as the recommended path boundary for the end-of-cycle tool.

[0061] The specific implementation method of "determining the recommended posture boundary of the end-effector in the current cycle based on the posture of the end-effector in the current cycle and the preset recommended posture" in S330 includes, but is not limited to, the following methods: determining whether the angle between the posture and the preset recommended posture is less than a preset angle threshold; if the angle is less than the preset angle threshold, then the edge corresponding to the preset recommended posture is taken as the recommended posture boundary of the current cycle; if the angle is not less than the preset angle threshold, then the preset posture boundary of the end-effector is taken as the recommended posture boundary of the current cycle.

[0062] The preset angle threshold is a pre-set angle used to determine the recommended pose boundary. Optionally, the preset angle threshold can be a very small value.

[0063] Understandably, if the angle between the pose and the preset recommended pose is less than the preset angle threshold, it means that the pose is close to the preset recommended pose, and the edge where the preset recommended pose is located is taken as the recommended pose boundary for the current period. Conversely, if the angle between the pose and the preset recommended pose is not less than the preset angle threshold, it means that the pose is far from the preset recommended pose and may be closer to the maximum pose boundary (i.e., the preset pose boundary) set for flexibility and safety, and the preset pose boundary is taken as the recommended pose boundary for the current period.

[0064] For example, in the preset recommended posture is Figure 2 When the central axis of the conical boundary shown is determined, if the electronic device determines the attitude of the end effector in the current cycle, it is related to... Figure 2 If the angle between the central axes of the conical boundary (i.e., the preset recommended pose) is less than the preset angle threshold, it indicates that the pose is close to... Figure 2 The central axis of the conical boundary can be directly... Figure 2 The side containing the central axis of the conical boundary serves as the recommended attitude boundary for the end effector in the current cycle; conversely, if the electronics determine the attitude of the end effector in the current cycle... Figure 2 If the angle between the central axes of the conical boundary (i.e., the preset recommended pose) is not less than the preset angle threshold, it indicates that the pose is far from the target. Figure 2 The central axis of the conical boundary may be closer to the conical boundary (i.e., the preset attitude boundary), so it can be directly... Figure 2 The medium conical boundary serves as the recommended attitude boundary for the end effector in the current cycle.

[0065] Therefore, by combining the distance between the position and the preset recommended path, and a preset distance threshold, different methods are used to flexibly determine the recommended path boundary of the end effector in the current cycle. Simultaneously, by combining the angle between the pose and the preset recommended pose, and a preset angle threshold, different methods are used to flexibly determine the recommended pose boundary of the end effector in the current cycle. Thus, the pose constraints of the end effector in the current cycle are obtained, enabling the end effector to move within these pose constraints during the current cycle.

[0066] S340. Determine the control force of the end tool in the current cycle based on the external force and the springback force, and determine the control torque of the end tool in the current cycle based on the external torque and the springback torque.

[0067] In this embodiment, the electronic device combines the actual force and virtual force acting on the end tool to determine the control force, and combines the actual torque and virtual torque acting on the end tool to determine the control torque, so as to use the rebound force and rebound torque as a guide to determine the control force and control torque of the end tool in the current cycle.

[0068] The specific implementation methods of S340 include, but are not limited to, the following methods: adding the external force and the rebound force to obtain the control force of the end tool in the current cycle; adding the external torque and the rebound torque to obtain the control torque of the end tool in the current cycle.

[0069] Among them, control force and control torque are the forces and torques used for pose planning of the end effector.

[0070] S350. Using the recommended path boundary and recommended attitude boundary of the current cycle as constraints, and based on the control force and control torque of the current cycle, control the position and attitude of the end tool in the current cycle.

[0071] In this embodiment, after the electronic device obtains the control force and control torque of the current cycle, it performs pose planning on the end effector based on the control force and control torque of the current cycle. According to the recommended posture boundary (including the recommended path boundary and the recommended posture boundary) and the planned pose, it calculates the control pose, that is, pulls back after exiting the wall, and controls the movement of the end effector according to the control pose.

[0072] The specific implementation method of S350 includes, but is not limited to, the following methods: using the control force and control torque of the current cycle, performing position planning and attitude planning for the end tool in the current cycle, and determining the planned position and planned attitude of the end tool in the current cycle; according to the planned position and planned attitude, controlling the motion position and motion attitude of the end tool in the current cycle within the recommended path boundary and the recommended attitude boundary of the current cycle.

[0073] Specifically, firstly, the electronic device calls the force control algorithm to perform pose planning on the control force and control torque of the current cycle, so as to determine the planned position based on the control force and the planned posture based on the control torque; then, the electronic device calculates the control pose (including control position and control posture) based on the recommended posture boundary (including recommended path boundary and recommended posture boundary) and the planned pose (including planned position and planned posture), that is, pull back after going out of the wall, and controls the movement of the end tool according to the control pose.

[0074] It should be noted that if the end tool encounters an obstacle during its movement, and the resistance generated by the obstacle is greater than the rebound force, the resistance and rebound force will cancel each other out, and the end tool will stop moving to avoid forcing its way through and injuring the user.

[0075] The above method can quantify the user's experience into preset recommended paths and preset recommended postures, allowing the end-effector to move within the boundaries of the recommended path and recommended posture. Furthermore, this method can guide the user to control the movement of the end-effector through force control, thus shortening the user's learning cycle and reducing dependence on the user.

[0076] An embodiment of this disclosure provides a motion control method for an end effector, comprising: determining a control mode for the end effector in response to external forces and torques acting on it in a current cycle; if the control mode of the end effector is a locked mode, determining the rebound force and rebound torque of the end effector in the current cycle; determining a recommended path boundary for the end effector in the current cycle based on its position and a preset recommended path, and determining a recommended posture boundary for the end effector in the current cycle based on its posture and a preset recommended posture; determining a control force for the end effector in the current cycle based on the external forces and rebound force, and determining a control torque for the end effector in the current cycle based on the external torque and rebound torque; and controlling the motion position and motion posture of the end effector in the current cycle based on the recommended path boundary and the recommended posture boundary, and the control force and control torque, respectively. Therefore, when the robot's end effector is in locked mode, the recommended path and posture boundaries are periodically and dynamically determined. In each cycle, rebound force and torque guidance are provided to determine the control force and torque. Based on the recommended path and posture boundaries, control force, and control torque for each cycle, motion control of the end effector is achieved. This motion control method does not rely on the operator's visual observation or tactile feedback, and it can guide the operator in manipulating the surgical robot, thus improving the robot's operational efficiency.

[0077] In some embodiments, after performing S310, the method further includes:

[0078] S360. If the control mode of the end effector is unlocked, the preset position boundary of the end effector will be used as the recommended path boundary for the current cycle, and the preset attitude boundary of the end effector will be used as the recommended attitude boundary for the current cycle.

[0079] Understandably, when the electronic device determines that the control mode is unlocked, the maximum position boundary (i.e., the preset position boundary) set based on flexibility and safety can be directly used as the recommended path boundary for the current cycle, and the maximum attitude boundary (i.e., the preset attitude boundary) set based on flexibility and safety can be directly used as the recommended attitude boundary for the current cycle, without the need to use a complex method to determine the recommended path boundary and recommended attitude boundary.

[0080] S370, using external force as the control force of the end tool in the current cycle, and using external torque as the control torque of the end tool in the current cycle.

[0081] Understandably, since the end tool does not need to consider the effect of rebound force in the unlocked mode, the electronic device directly uses the external force as the control force of the end tool in the current cycle, and the external torque as the control torque of the end tool in the current cycle. Then, it returns to execute S350 to realize the control of the end tool movement in the unlocked mode.

[0082] In this way, when the end-effector is in unlocked mode, the movement of the end-effector is automatically controlled directly based on external forces and torques, using preset position and attitude boundaries set based on flexibility and safety as constraints.

[0083] This disclosure also provides a motion control device for an end-effector to implement the above-described motion control method. The following is in conjunction with... Figure 4 The following explanation is provided. In this embodiment, the motion control device for the end effector can be an electronic device. Specifically, the electronic device can be a control device for a medical robot.

[0084] Figure 4 A schematic diagram of the structure of a motion control device for an end-effector provided in an embodiment of this disclosure is shown.

[0085] like Figure 4 As shown, the motion control device 400 for the end tool may include:

[0086] The first determining module 410 is used to determine the control mode of the end tool in response to the external force and external torque acting on the end tool in the current cycle.

[0087] The second determining module 420 is used to determine the rebound force and rebound torque of the end tool in the current cycle if the control mode of the end tool is the locked mode.

[0088] The third determining module 430 is used to determine the recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and the preset recommended path, and to determine the recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and the preset recommended posture.

[0089] The fourth determining module 440 is used to determine the control force of the end tool in the current cycle based on the external force and the rebound force, and to determine the control torque of the end tool in the current cycle based on the external torque and the rebound torque;

[0090] The motion control module 450 is used to control the motion position and motion posture of the end effector in the current cycle, based on the control force and control torque of the current cycle, using the recommended path boundary and the recommended posture boundary of the current cycle as constraints.

[0091] An embodiment of this disclosure provides a motion control device for an end-effector tool, comprising: determining a control mode of the end-effector tool in response to an external force and an external torque acting on the end-effector tool in a current cycle; if the control mode of the end-effector tool is a locked mode, determining a rebound force and a rebound torque of the end-effector tool in the current cycle; determining a recommended path boundary of the end-effector tool in the current cycle based on the position of the end-effector tool in the current cycle and a preset recommended path, and determining a recommended posture boundary of the end-effector tool in the current cycle based on the posture of the end-effector tool in the current cycle and a preset recommended posture; determining a control force of the end-effector tool in the current cycle based on the external force and the rebound force, and determining a control torque of the end-effector tool in the current cycle based on the external torque and the rebound torque; and controlling the motion position and motion posture of the end-effector tool in the current cycle based on the recommended path boundary and the recommended posture boundary of the current cycle as constraints, and based on the control force and the control torque of the current cycle. Therefore, when the robot's end effector is in locked mode, the recommended path and posture boundaries are periodically and dynamically determined. In each cycle, rebound force and torque guidance are provided to determine the control force and torque. Based on the recommended path and posture boundaries, control force, and control torque for each cycle, motion control of the end effector is achieved. This motion control method does not rely on the operator's visual observation or tactile feedback, and it can guide the operator in manipulating the surgical robot, thus improving the robot's operational efficiency.

[0092] In some embodiments of this disclosure, the rebound force of the end effector in the current cycle includes the magnitude and direction of the rebound force;

[0093] The magnitude of the rebound force is determined based on the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end tool. The direction of the rebound force is the direction of the line connecting the position to the projection point of the position on the recommended path.

[0094] In some embodiments of this disclosure, the rebound torque of the end effector in the current cycle includes the magnitude and direction of the rebound torque;

[0095] The magnitude of the rebound torque is determined based on the angle between the posture and the preset recommended posture, the preset maximum rebound torque, and the angle corresponding to the preset posture boundary of the end effector. The direction of the rebound torque is determined by cross product of the posture and the preset recommended posture.

[0096] In some embodiments of this disclosure, the third determining module 430 includes:

[0097] The first judgment unit is used to determine whether the distance between the location and the preset recommended path is less than a preset distance threshold.

[0098] The first determining unit is used to determine the edge of the preset recommended path as the boundary of the recommended path in the current period if the distance is less than the preset distance threshold.

[0099] The second determining unit is used to take the preset position boundary of the end tool as the recommended path boundary for the current cycle if the distance is not less than the preset distance threshold.

[0100] In some embodiments of this disclosure, the third determining module 430 includes:

[0101] The second judgment unit is used to determine whether the angle between the posture and the preset recommended posture is less than a preset angle threshold.

[0102] The third determining unit is used to take the edge corresponding to the preset recommended posture as the recommended posture boundary of the current period if the angle is less than the preset angle threshold.

[0103] The fourth determining unit is used to take the preset posture boundary of the end effector as the recommended posture boundary of the current cycle if the angle is not less than the preset angle threshold.

[0104] In some embodiments of this disclosure, the fourth determining module 440 includes:

[0105] The first adding unit is used to add the external force to the rebound force to obtain the control force of the end tool in the current cycle;

[0106] The second adding unit is used to add the external torque to the springback torque to obtain the control torque of the end tool in the current cycle.

[0107] In some embodiments of this disclosure, the motion control module 450 includes:

[0108] The planning unit is used to perform position planning and attitude planning for the end effector in the current cycle using the control force and control torque of the current cycle, and to determine the planned position and planned attitude of the end effector in the current cycle.

[0109] The motion control unit is used to control the motion position and motion posture of the end effector in the current cycle, within the recommended path boundary and the recommended posture boundary of the current cycle, according to the planned position and the planned posture.

[0110] In some embodiments of this disclosure, the device further includes:

[0111] The fifth determining module is used to, if the control mode of the end tool is unlocked, take the preset position boundary of the end tool as the recommended path boundary of the current cycle, and take the preset attitude boundary of the end tool as the recommended attitude boundary of the current cycle.

[0112] The sixth determining module is used to use the external force as the control force of the end tool in the current cycle, and to use the external torque as the control torque of the end tool in the current cycle.

[0113] In some embodiments of this disclosure, the preset recommended path of the end effector is the central axis of a preset position boundary in the shape of a funnel, and the preset attitude path of the end effector is the central axis of a preset attitude boundary in the shape of a cone.

[0114] It should be noted that, Figure 4 The motion control device 400 of the end tool shown can perform Figure 3 The various steps in the method embodiment shown are implemented. Figure 3 The processes and effects in the method embodiments shown are not described in detail here.

[0115] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown.

[0116] like Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0117] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0118] Memory 502 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway device. In a particular embodiment, memory 502 is a non-volatile solid-state memory. In a particular embodiment, memory 502 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0119] The processor 501 reads and executes computer program instructions stored in the memory 502 to perform the steps of the motion control method for the end effector provided in this embodiment of the present disclosure.

[0120] In one example, the electronic device may also include a transceiver 503 and a bus 504. Wherein, as... Figure 5 As shown, the processor 501, memory 502 and transceiver 503 are connected via bus 504 and communicate with each other.

[0121] Bus 504 may include hardware, software, or both. For example, and not limitingly, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 504 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0122] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium and the motion control methods for end-effectors in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the motion control methods for end-effectors described above.

[0123] This embodiment provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a motion control method for an end effector, the method comprising:

[0124] The control mode of the end-effector is determined in response to the external forces and torques acting on the end-effector in the current cycle.

[0125] If the control mode of the end effector is locked, determine the rebound force and rebound torque of the end effector in the current cycle;

[0126] Based on the position of the end effector in the current cycle and the preset recommended path, the recommended path boundary of the end effector in the current cycle is determined, and based on the attitude of the end effector in the current cycle and the preset recommended attitude, the recommended attitude boundary of the end effector in the current cycle is determined.

[0127] The control force of the end effector in the current cycle is determined based on the external force and the rebound force, and the control torque of the end effector in the current cycle is determined based on the external torque and the rebound torque.

[0128] Using the recommended path boundary and the recommended posture boundary of the current cycle as constraints, and based on the control force and control torque of the current cycle, the movement position and movement posture of the end effector in the current cycle are controlled.

[0129] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also execute related operations in the motion control method of the end-effector provided in any embodiment of this disclosure.

[0130] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the motion control method of the end-effector provided in the various embodiments of this disclosure.

[0131] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. A motion control method for an end effector, characterized in that, include: The control mode of the end-effector is determined in response to the external forces and torques acting on the end-effector in the current cycle. If the control mode of the end effector is locked, determine the rebound force and rebound torque of the end effector in the current cycle; Based on the position of the end effector in the current cycle and the preset recommended path, the recommended path boundary of the end effector in the current cycle is determined, and based on the attitude of the end effector in the current cycle and the preset recommended attitude, the recommended attitude boundary of the end effector in the current cycle is determined. The control force of the end effector in the current cycle is determined based on the external force and the rebound force, and the control torque of the end effector in the current cycle is determined based on the external torque and the rebound torque. Using the recommended path boundary and the recommended posture boundary of the current cycle as constraints, and based on the control force and control torque of the current cycle, the movement position and movement posture of the end effector in the current cycle are controlled.

2. The method according to claim 1, characterized in that, The rebound force of the end effector in the current cycle includes the magnitude and direction of the rebound force; The magnitude of the rebound force is determined based on the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end tool. The direction of the rebound force is the direction of the line connecting the position to the projection point of the position on the recommended path.

3. The method according to claim 1, characterized in that, The rebound torque of the end effector in the current cycle includes the magnitude and direction of the rebound torque; The magnitude of the rebound torque is determined based on the angle between the posture and the preset recommended posture, the preset maximum rebound torque, and the angle corresponding to the preset posture boundary of the end effector. The direction of the rebound torque is determined by cross product of the posture and the preset recommended posture.

4. The method according to claim 1, characterized in that, The step of determining the recommended path boundary of the end-point tool in the current cycle based on the position of the end-point tool in the current cycle and the preset recommended path includes: Determine whether the distance between the location and the preset recommended path is less than a preset distance threshold; If the distance is less than the preset distance threshold, then the edge containing the preset recommended path is taken as the boundary of the recommended path for the current period. If the distance is not less than the preset distance threshold, then the preset position boundary of the end tool will be used as the recommended path boundary for the current cycle.

5. The method according to claim 1, characterized in that, The step of determining the recommended pose boundary of the end effector in the current cycle based on the pose of the end effector in the current cycle and the preset recommended pose includes: Determine whether the angle between the posture and the preset recommended posture is less than a preset angle threshold; If the angle is less than the preset angle threshold, then the edge corresponding to the preset recommended posture is taken as the recommended posture boundary of the current period. If the angle is not less than the preset angle threshold, then the preset attitude boundary of the end effector is used as the recommended attitude boundary for the current cycle.

6. The method according to claim 1, characterized in that, The step of determining the control force of the end-effector in the current cycle based on the external force and the rebound force, and determining the control torque of the end-effector in the current cycle based on the external torque and the rebound torque, includes: The external force is added to the rebound force to obtain the control force of the end tool in the current cycle; The external torque is added to the springback torque to obtain the control torque of the end tool in the current cycle.

7. The method according to claim 1, characterized in that, The control of the end effector's position and attitude in the current cycle, based on the recommended path boundary and recommended attitude boundary of the current cycle as constraints, and the control force and control torque of the current cycle, includes: Using the control force and control torque of the current cycle, the end effector is positioned and its attitude is planned in the current cycle to determine the planned position and attitude of the end effector in the current cycle. Based on the planned position and the planned posture, within the recommended path boundary and the recommended posture boundary of the current cycle, the movement position and posture of the end effector in the current cycle are controlled.

8. The method according to any one of claims 1 to 7, characterized in that, Also includes: If the control mode of the end effector is unlocked, then the preset position boundary of the end effector is used as the recommended path boundary of the current cycle, and the preset attitude boundary of the end effector is used as the recommended attitude boundary of the current cycle. The external force is used as the control force of the end tool in the current cycle, and the external torque is used as the control torque of the end tool in the current cycle.

9. The method according to any one of claims 1 to 7, characterized in that, The preset recommended path of the end effector is the central axis of the preset position boundary in the shape of a funnel, and the preset attitude path of the end effector is the central axis of the preset attitude boundary in the shape of a cone.

10. A motion control device for an end-effector, characterized in that, include: The first determining module is used to determine the control mode of the end tool in response to the external force and torque acting on the end tool in the current cycle; The second determining module is used to determine the rebound force and rebound torque of the end tool in the current cycle if the control mode of the end tool is locked. The third determining module is used to determine the recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and the preset recommended path, and to determine the recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and the preset recommended posture. The fourth determining module is used to determine the control force of the end tool in the current cycle based on the external force and the rebound force, and to determine the control torque of the end tool in the current cycle based on the external torque and the rebound torque; The motion control module is used to control the motion position and motion posture of the end effector in the current cycle, based on the control force and control torque of the current cycle, using the recommended path boundary and recommended posture boundary of the current cycle as constraints.

11. An electronic device, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, The storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method described in any one of claims 1-9.

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