Whole-body motion trail optimization method and system for four-foot single-arm operation robot

Abstract

The invention discloses a whole-body motion trail optimization method and system for a four-foot single-arm operation robot, and relates to the technical field of four-foot single-arm robot control, and the method comprises the steps: respectively building kinematic models of four limbs and operation arms of a robot and a kinetic model of a trunk mass center; the motion gait of the robot is described through continuous time variables, the motion of the robot is decomposed into trunk mass center motion, leg motion and operation arm motion, motion curves of all the motions are described, and constraint conditions borne by the robot in the motion process are constructed; wherein the time variable is robot phase duration; according to the current state of the robot, a set expected operation target, a kinematics model, a dynamical model, a motion gait, motion curves of various decomposed motions and constraint conditions of robot motion, a whole-body motion track nonlinear optimization problem of robot operation is established, an optimization solution library is adopted for solving the problem, and the whole-body motion track nonlinear optimization problem of robot operation is obtained. And obtaining an optimal motion trail.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped single-arm robot control, and in particular to a whole-body motion trajectory optimization method and system for a quadruped single-arm working robot. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Motion planning is a fundamental problem in the field of legged robot research and is also a very important component of legged robot controllers. Motion planning for legged robots is very challenging. On the one hand, the movement of the trunk cannot be generated directly, but needs to be completed through discontinuous contact between the robot's legs and the environment; on the other hand, legged robots are generally high-degree-of-freedom systems, and the number of degrees of freedom that need to be processed in motion planning is too large, making the planning process very difficult. On this basis, the quadruped single-arm working robot combines the structure of the legs and the working arm, which not only increases the number of degrees of freedom of the system as a whole, but also adds more restrictions to the working arm, including self-collision, posture maintenance, singularity avoidance and other types. Therefore, motion planning for systems such as quadruped single-arm robots is particularly difficult.

[0004] The motion trajectory planning of a quadruped single-arm working robot needs to solve the overall or whole-body motion planning problem of the robot and solve the expected motion that includes all the degrees of freedom of the robot. However, since the quadruped single-arm robot has many degrees of freedom, including: 6 degrees of freedom of the floating base of the trunk, 12 degrees of freedom of the leg joints and 6 degrees of freedom of the working arm joints, a total of 24 degrees of freedom, its motion state change equation is very complex and its motion planning is difficult. Early quadruped single-arm robot motion planning often used static stability as the judgment basis, and manually set and adjusted the feasible trajectory of the trunk, foot end motion, force and other related quantities, while the interaction force between the end of the working arm and the environment was considered to remain unchanged and was included in the basis for stability judgment. However, this method requires manual control and cannot achieve unmanned intelligent operation of the robot. At present, other planning methods have been proposed: using dynamic stability criteria to plan the contact position and contact force of the entire robot, and its working arm is used to assist in maintaining the stability of the robot and completing the task. However, such methods usually face problems such as complex and difficult to represent motion processes, too many model parameters, and too long calculation time, and cannot achieve online planning; using remote operation to manually set the expected motion goals and independently plan the motion of the torso and working arm, but such remote operation methods will reduce the robot's autonomous performance and cannot achieve unmanned intelligent operation of the robot. Summary of the invention

[0005] In order to address the deficiencies of the above-mentioned prior art, the present invention provides a method and system for optimizing the whole-body motion trajectory of a quadruped single-arm working robot. Under the premise of a given desired working goal, the method and system can construct a nonlinear problem of optimizing the whole-body motion trajectory of the robot to solve the optimal whole-body motion trajectory under a variety of complex terrains, thereby solving the problems of the inability to continuously represent complex discrete motion processes, the large number of model parameter adjustments, and the complex gait sequence design in traditional trajectory planning methods, thereby achieving the optimal planning and stable motion control of the quadruped single-arm working motion.

[0006] In a first aspect, the present invention provides a method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot.

[0007] A method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot, comprising:

[0008] For the quadruped single-arm working robot, the kinematic models of the robot's limbs and working arms and the dynamic model of the trunk's center of mass are established respectively;

[0009] The robot's motion gait is described using continuous time variables, the robot's motion is decomposed into the motion of the trunk center of mass, the motion of the legs, and the motion of the working arm, the motion curves of each motion are described, and the constraints imposed on the robot during motion are constructed; among them, the time variable is the robot phase duration;

[0010] According to the current state of the robot and the expected working objectives, the kinematic model, dynamic model, motion gait, the decomposed motion curves of each motion and the constraints of the robot motion are combined to establish a nonlinear optimization problem of the whole-body motion trajectory of the robot operation. The optimization solution library is used to solve the problem and obtain the optimal motion trajectory.

[0011] In a second aspect, the present invention provides a whole-body motion trajectory optimization system for a quadruped single-arm working robot.

[0012] A method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot, comprising:

[0013] The modeling module is used to establish the kinematic model of the robot's limbs and working arm and the dynamic model of the center of mass of the trunk for the quadruped single-arm working robot;

[0014] The motion analysis module is used to describe the robot's motion gait using continuous time variables, decompose the robot's motion into trunk center of mass motion, leg motion, and working arm motion, describe the motion curves of each motion, and construct the constraints imposed on the robot during motion; the time variable is the robot phase duration;

[0015] The optimal motion trajectory generation module is used to establish the nonlinear optimization problem of the whole-body motion trajectory of the robot operation based on the current state of the robot and the set expected operation goals, combined with the kinematic model, dynamic model, motion gait, the motion curves of each motion after decomposition and the constraints of the robot motion, and use the optimization solution library to solve the problem to obtain the optimal motion trajectory.

[0016] In a third aspect, the present invention further provides an electronic device, comprising: a memory for storing executable instructions; and a processor for implementing the above-mentioned method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot when executing the executable instructions stored in the memory.

[0017] In a fourth aspect, the present invention further provides a computer-readable storage medium storing executable instructions for causing a processor to execute the executable instructions to implement the above-mentioned method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot.

[0018] In a fifth aspect, the present invention also provides a computer program product, which includes executable instructions, and the executable instructions are stored in a computer-readable storage medium; wherein, when the processor of the electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the above-mentioned method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot is implemented.

[0019] One or more of the above technical solutions have the following beneficial effects:

[0020] 1. The present invention provides a whole-body motion trajectory optimization method and system for a quadruped single-arm working robot. The kinematic equations of the robot's limbs and working arms and the trunk center of mass dynamics equations are established respectively. Continuous time variables are used to describe the robot's main motion parameters. A nonlinear optimization problem (NLP) is used to describe the robot's whole-body motion process containing discrete processes. The whole-body motion trajectory of the robot is obtained through optimal solution, and the whole-body motion trajectory planning problem of the quadruped single-arm working robot is solved, thereby ensuring the executability and robustness of the trajectory, and realizing the optimization planning and stable motion control of the quadruped single-arm working motion of the robot.

[0021] 2. The whole-body motion trajectory optimization method of the quadruped single-arm working robot proposed in the present invention can solve the optimal whole-body motion trajectory under various complex terrains such as steps, slopes, gullies, etc. under the premise of a given desired working goal, and solve the problems in traditional trajectory planning methods such as the inability to continuously represent complex discrete motion processes, the large number of model parameter adjustments, and the complex gait sequence design.

[0022] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0024] Figure 1 It is a flow chart of the whole body motion trajectory optimization method of the quadruped single-arm working robot according to an embodiment of the present invention;

[0025] Figure 2 Schematic diagram for describing the atypical diagonal trotting gait of the quadruped single-arm working robot in an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the motion trajectory of a quadruped single-arm working robot passing through a stepped terrain in an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the motion trajectory of a quadruped single-arm working robot passing through gully terrain in an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the motion trajectory of a quadruped single-arm working robot passing through a slope terrain in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] It should be noted that the following detailed descriptions are exemplary only, are intended to describe specific embodiments, are intended to provide further explanation of the present invention, and are not intended to limit exemplary embodiments according to the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art to which the present invention belongs. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Terminology explanation:

[0031] NLP: nonlinear programming problem, nonlinear problem;

[0032] Ipopt: Interior Point Optimizer, interior point optimizer.

[0033] Embodiment 1

[0034] This embodiment provides a method for optimizing the whole body motion trajectory of a quadruped single-arm working robot. Figure 1 As shown, the following steps are included:

[0035] Step S1: for a quadruped single-arm working robot, kinematic models of the robot's limbs and working arms and a dynamic model of the trunk center of mass are established respectively.

[0036] Step S1.1: For a quadruped single-arm working robot, considering that the robot consists of four limbs and a working arm, these two parts should also be considered during operation or movement. For this reason, in this embodiment, forward kinematic models of the robot's four limbs and working arm are established respectively, which can be expressed as:

[0037]

[0038] in, Indicates the position of the i-th end in the world coordinate system; i=0, 1, 2, 3 represent the foot ends of the four legs, and i=4 represents the end of the working arm; n s The dimension representing the end pose. When using linear position, n s =3, and when generalized position is used, n s =6, which contains the position and posture of the terminal in the world coordinate system; They correspond to the state variables of the entire robot, the state variables of the trunk, the state variables of the i-th leg, and the state variables of the working arm; h l,i (q l,i ) represents the forward kinematics of the ith leg in the trunk coordinate system; h m (q m ) represents the forward kinematics of the working arm in the trunk coordinate system; Represents the transformation matrix from body coordinate system to world coordinate system.

[0039] Step S1.2: For the quadruped single-arm working robot, a single rigid body dynamics equation of the trunk in Cartesian space is established, that is, a trunk center of mass dynamics model is established. In this embodiment, the simplified dynamics function f at the center of mass of the trunk is constructed SRBD (r,f,p) can be expressed as:

[0040]

[0041] In the above formula, m represents the robot's trunk gravity, g represents the gravitational acceleration, represents the linear acceleration at the center of mass, t is the time variable, ω(t) is the angular velocity of the center of mass, represents angular acceleration, I b represents the inertia parameter of the trunk, f i (t) represents the equivalent force at the center of mass of the trunk corresponding to the i-th end, which comes from the force between the supporting leg and the ground and the interaction force between the end of the robot arm and the work object, f i The product of (t) and the corresponding force arm r(t) represents the equivalent torque, p i(t) represents the position of the i-th terminal at time t.

[0042] Step S2: Use a continuous time variable to describe the robot's motion gait; wherein the time variable is the robot phase duration.

[0043] In this embodiment, the contact state of the robot is described by continuous phase duration, thereby obtaining the description of the robot's motion gait, wherein the robot's phase refers to the continuous swing state or support state of each leg. On this basis, the motion gait can be represented by a graph, and the time variable is defined as ΔT i,j ,i=1,2,3,4,5,j=1,2,3,4. In this embodiment, the quadruped single-arm robot has five possible contact points, so the defined phase sequence combinations can be up to 2 5 = 32 results, such as Figure 2 Atypical diagonal trot gait shown, where the arm remains airborne.

[0044] Step S3: decompose the robot's motion into trunk mass center motion, leg motion, and working arm motion, and describe the motion curve of each motion.

[0045] In this embodiment, the movement of the robot is decomposed into three sub-modules: trunk center of mass movement, leg movement, and working arm movement. The leg movement can be further subdivided into supporting leg movement and swinging leg movement. On this basis, the motion curves describing each movement can be described as the fourth motion curve of the trunk center of mass, the third motion curve of the leg (including the fixed state equation of the supporting leg, the third force motion curve of the swinging leg), the third motion curve of the working arm, etc.

[0046] (1) The linear motion curve of the center of mass can be described as the fourth curvilinear motion of the center of mass of the trunk, which is defined in the x direction as:

[0047]

[0048] Among them, a i The coefficients representing the curve, i = 0, ..., 4, are determined by optimization; Represents the linear centroid position of the torso, including the x, y, and z directions. The x direction is

[0049] (2) The motion curve of the leg can be further divided into the supporting leg motion and the swinging leg motion. The foot position of the supporting leg needs to remain unchanged relative to the world coordinate system, so it is represented by a fixed value, which can be expressed as:

[0050] p i (t∈C i,s )=p i,s =const

[0051] In the above formula, const represents a fixed constant value, C i,s Indicates that the i-th leg is in the supporting state, and s is an auxiliary selection variable. In fact, the above formula can be used as a non-sliding constraint to limit the motion state of the supporting leg.

[0052] Then, the foot movement in the swing phase is described by a cubic polynomial, that is, a cubic force curve at the end of the contact limb, which can be expressed as:

[0053]

[0054] In the above formula, the position vector p i (t) and the curve parameter vector And the time vector η(t) can be further expressed as:

[0055] p i (t) = [p i,x (t)p i,y (t)p i,z (t)] T

[0056]

[0057] η(t)=[1t t 2 t 3 ]

[0058] (3) The motion curve of the working arm can be described as the cubic curve motion of the working arm, which can be expressed as:

[0059]

[0060] In the above formula, Indicates the position of the end of the working arm. It represents the posture of the end of the working arm, and the subscript m represents the working arm.

[0061] Step S4: construct the constraints that the robot is subject to during movement.

[0062] In this embodiment, the constraint equations to which the robot is subject during motion are established, including contact constraints, non-contact constraints, kinematic constraints, terrain constraints, phase time constraints, etc., specifically:

[0063] (1) When the robot's limbs come into contact with the environment, contact constraints need to be satisfied, including force constraints and friction cone constraints. The constraint expression is:

[0064]

[0065]

[0066] in, represents the position of the ith foot in the x and y directions, f T (t) represents the thrust vector generated by the foot end on the ground, Represents the direction vector at the x,y position on the terrain surface, represents the gravity related to the robot mass, f n (t) represents the scalar thrust, C i,s It indicates whether the i-th leg is in the support phase at time point s; t1 and t2 represent two tangent directions, and μ is the friction coefficient.

[0067] Furthermore, when the robot's limbs are not in contact with the environment, the non-contact constraint is satisfied, which can be expressed as:

[0068]

[0069] Among them, f i represents the force on the ith end, represents the moment when the ith end does not support the phase.

[0070] (2) Kinematic constraints include the kinematic constraints of the limbs and the working arm, which are actually the constraints on the accessible space of the limb ends. The kinematic constraints of the limbs are expressed as any leg does not exceed the range of the cube corresponding to the current sequence number, which can be expressed as:

[0071]

[0072] Where R(θ) represents the rotation matrix from the world coordinate system to the torso coordinate system; q i represents the joint vector of the i-th leg, b min,i and b max,i Respectively represent the upper and lower limits corresponding to each joint; Represents the transformation matrix from body coordinate system to world coordinate system.

[0073] Then, the kinematic constraints of the working arm can be expressed as:

[0074]

[0075] Among them, p4 represents the position of the end of the working arm relative to the world coordinate system, Indicates the reference point of the working arm in the workspace, and the reference coordinate axis is parallel to the coordinate axis of the world coordinate system; Represents the unit direction vector of the world coordinate system; b ee is a 1×3 row vector containing the dimension values ​​of the cube constraints.

[0076] (3) Since this embodiment does not involve the acquisition of terrain information, it is assumed that the terrain data is known, represented by h terrain (x, y), and then the terrain constraint equation related to the supporting leg and the terrain can be defined as:

[0077]

[0078] in, represents the position of the i-th foot end in the z direction, Represents the topographic information of the position of the ith foot in the x and y directions.

[0079] (4) In addition, this embodiment also has a phase time constraint, which is expressed as:

[0080]

[0081] Where, ΔT i,j is the time variable, i=1,2,3,4,5, j=1,2,3,4, and T is the total time of a whole gait.

[0082] Step S5: According to the current state of the robot and the expected operation goal, the kinematic model, dynamic model, motion gait, the motion curves of each motion after decomposition and the constraints of the robot motion are combined to establish a nonlinear optimization problem of the whole body motion trajectory of the robot operation, and the optimization solution library is used to solve the problem to obtain the optimal motion trajectory.

[0083] Specifically, according to the current state of the robot and the expected operation goal, the initial position and the final position of the robot are determined, and the above kinematic model, dynamic model, motion gait, motion curves of each motion after decomposition and the constraints of the robot motion are combined to form a nonlinear optimization problem. In this embodiment, based on the above conditions, the robot whole body operation trajectory optimization problem is established, which can be expressed as:

[0084]

[0085] Furthermore, an optimization solution library is used to complete the optimal trajectory solution. In this embodiment, the existing numerical optimization open source library Ipopt is called to solve the optimal solution of the above formula, so as to obtain the center of mass position, trunk posture, phase time, foot position, foot force, etc. of each foot end of the robot during the movement, and obtain the gait sequence, step time, landing point, swing leg motion trajectory, working arm motion trajectory and torso motion trajectory of the robot, that is, to obtain the optimal whole-body motion trajectory of the robot.

[0086] The motion trajectory optimization method of the quadruped single-arm working robot proposed in this embodiment can solve the whole body motion trajectory under various complex terrains such as steps, slopes, gullies, etc. under the premise of given desired working goals. The motion trajectories are as follows: Figure 3 , Figure 4 , Figure 5 As shown, it can realize the optimal motion planning and stable motion control of the quadruped single-arm robot.

[0087] Embodiment 2

[0088] This embodiment provides a method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot, comprising:

[0089] The modeling module is used to establish the kinematic model of the robot's limbs and working arm and the dynamic model of the center of mass of the trunk for the quadruped single-arm working robot;

[0090] The motion analysis module is used to describe the robot's motion gait using continuous time variables, decompose the robot's motion into trunk center of mass motion, leg motion, and working arm motion, describe the motion curves of each motion, and construct the constraints imposed on the robot during motion; the time variable is the robot phase duration;

[0091] The optimal motion trajectory generation module is used to establish the nonlinear optimization problem of the whole-body motion trajectory of the robot operation based on the current state of the robot and the set expected operation goals, combined with the kinematic model, dynamic model, motion gait, the motion curves of each motion after decomposition and the constraints of the robot motion, and use the optimization solution library to solve the problem to obtain the optimal motion trajectory.

[0092] Embodiment 3

[0093] This embodiment provides an electronic device, including: a memory, used to store executable instructions; and a processor, used to implement the above method provided in this embodiment when executing the executable instructions stored in the memory.

[0094] Embodiment 4

[0095] This embodiment also provides a computer-readable storage medium storing executable instructions. When the executable instructions are executed by a processor, the processor will be caused to execute the above method provided in this embodiment.

[0096] Embodiment 5

[0097] This embodiment provides a computer program product, which includes an executable instruction, which is a computer instruction; the executable instruction is stored in a computer-readable storage medium. When a processor of an electronic device reads the executable instruction from the computer-readable storage medium and the processor executes the executable instruction, the electronic device executes the above method provided in this embodiment.

[0098] The steps involved in the above embodiments 2 to 5 correspond to the method embodiment 1. For the specific implementation, please refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0099] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0100] The above description is only a preferred embodiment of the present invention. Although the specific implementation mode of the present invention is described in conjunction with the accompanying drawings, it is not a limitation of the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the protection scope of the present invention.

Claims

1. A method for optimizing the whole-body motion trajectory of a quadruped single-arm working robot, characterized in that: include: For the quadruped single-arm working robot, the kinematic models of the robot's limbs and working arms and the dynamic model of the trunk's center of mass are established respectively; The robot's motion gait is described using continuous time variables, the robot's motion is decomposed into the motion of the trunk center of mass, the motion of the legs, and the motion of the working arm, the motion curves of each motion are described, and the constraints imposed on the robot during motion are constructed; among them, the time variable is the robot phase duration; According to the current state of the robot and the expected working objectives, the kinematic model, dynamic model, motion gait, the decomposed motion curves of each motion and the constraints of the robot motion are combined to establish a nonlinear optimization problem of the whole-body motion trajectory of the robot operation. The optimization solution library is used to solve the problem and obtain the optimal motion trajectory.

2. The whole body motion trajectory optimization method of a quadruped single-arm working robot according to claim 1, characterized in that: The forward kinematic model of the robot's limbs and working arms is expressed as: in, Indicates the position of the i-th end in the world coordinate system; i=0, 1, 2, 3 represent the foot ends of the four legs, and i=4 represents the end of the working arm; n s The dimension representing the end pose. When using linear position, n s =3, when generalized position is used, n s =6, which contains the position and posture of the end in the world coordinate system; They correspond to the state variables of the entire robot, the state variables of the trunk, the state variables of the i-th leg, and the state variables of the working arm; h l,i (q l,i ) represents the forward kinematics of the ith leg in the trunk coordinate system; h m (q m ) represents the forward kinematics of the working arm in the trunk coordinate system; Represents the transformation matrix from body coordinate system to world coordinate system.

3. The whole body motion trajectory optimization method of a quadruped single-arm working robot according to claim 1, characterized in that: The dynamic model of the robot torso center of mass is expressed as: In the above formula, m represents the robot's trunk gravity, g represents the acceleration due to gravity, represents the linear acceleration at the center of mass, t is the time variable, ω(t) is the angular velocity of the center of mass, represents angular acceleration, I b represents the inertia parameter of the trunk, f i (t) represents the equivalent force at the center of mass of the trunk corresponding to the i-th end, which comes from the force between the supporting leg and the ground and the interaction force between the end of the robot arm and the work object. i The product of (t) and the corresponding force arm r(t) represents the equivalent torque, p i (t) represents the position of the i-th terminal at time t.

4. The whole body motion trajectory optimization method of a quadruped single-arm working robot according to claim 1, characterized in that: The robot's motion is decomposed into trunk mass center motion, leg motion, and working arm motion, wherein the leg motion is further subdivided into supporting leg motion and swinging leg motion; The motion curves describing each movement are described as the fourth motion curve of the center of mass of the trunk, the fixed state equation of the supporting leg, the third force motion curve of the swinging leg, and the third motion curve of the working arm.

5. The whole body motion trajectory optimization method of a quadruped single-arm working robot according to claim 1, characterized in that: The constraints include: contact constraints, non-contact constraints, kinematic constraints, terrain constraints, and phase time constraints.

6. The whole body motion trajectory optimization method of a quadruped single-arm working robot according to claim 5, characterized in that: The contact constraints include force constraints and friction cone constraints, which are respectively expressed as: in, represents the position of the ith foot in the x and y directions, f T (t) represents the thrust vector generated by the foot end on the ground, Represents the direction vector at the x,y position on the terrain surface, represents the gravity related to the robot mass, f n (t) represents the scalar thrust, C i,s Indicates whether the i-th leg is in the support phase at time point s; t1 and t2 represent two tangent directions, and μ is the friction coefficient; The kinematic constraints include the kinematic constraints of the limbs and the working arms, wherein the kinematic constraints of the limbs are expressed as any leg does not exceed the range of the cube corresponding to the current sequence number, expressed as: Where R(θ) represents the rotation matrix from the world coordinate system to the torso coordinate system; q i represents the joint vector of the i-th leg, b min,i and b max,i Respectively represent the upper and lower limits of each joint; T b w (q b ) represents the transformation matrix from the torso coordinate system to the world coordinate system; The kinematic constraints of the working arm are expressed as: Among them, p4 represents the position of the end of the working arm relative to the world coordinate system, Indicates the reference point of the working arm in the workspace, and the reference coordinate axis is parallel to the coordinate axis of the world coordinate system; Represents the unit direction vector of the world coordinate system; b ee is a 1×3 row vector containing the dimension values ​​of the cube constraints; The terrain constraint is expressed as: in, represents the position of the i-th foot end in the z direction, The topographic information representing the position of the ith foot end in the x and y directions; The phase time constraint is expressed as: Where, ΔT i,j is the time variable, i=1,2,3,4,5, j=1,2,3,4, and T is the total time of a whole gait.

7. A whole-body motion trajectory optimization system for a quadruped single-arm working robot, characterized in that: include: The modeling module is used to establish the kinematic model of the robot's limbs and working arm and the dynamic model of the center of mass of the trunk for the quadruped single-arm working robot; The motion analysis module is used to describe the robot's motion gait using continuous time variables, decompose the robot's motion into trunk center of mass motion, leg motion, and working arm motion, describe the motion curves of each motion, and construct the constraints imposed on the robot during motion; the time variable is the robot phase duration; The optimal motion trajectory generation module is used to establish the nonlinear optimization problem of the whole-body motion trajectory of the robot operation based on the current state of the robot and the set expected operation goals, combined with the kinematic model, dynamic model, motion gait, the motion curves of each motion after decomposition and the constraints of the robot motion, and use the optimization solution library to solve the problem to obtain the optimal motion trajectory.

8. An electronic device, characterized in that: include: A memory for storing executable instructions; The processor is used to implement the whole-body motion trajectory optimization method of a quadruped single-arm working robot as described in any one of claims 1 to 6 when executing the executable instructions stored in the memory.

9. A computer-readable storage medium, characterized in that: Executable instructions are stored, which are used to cause the processor to execute the executable instructions to implement the whole-body motion trajectory optimization method of a quadruped single-arm working robot as described in any one of claims 1-6.

10. A computer program product, characterized in that The computer program product includes executable instructions stored in a computer-readable storage medium; When the processor of the electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the whole-body motion trajectory optimization method of a quadruped single-arm working robot described in any one of claims 1 to 6 is implemented.

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