Robot control method, robot, electronic equipment and medium

Abstract

The invention provides a robot control method, a robot, electronic equipment and a medium, the robot control method comprises the steps that first state information of a parallel joint structure in the robot is obtained, and the parallel joint structure comprises a first joint, a second joint, a third joint, a fourth joint, a plurality of connecting rods and a linear push rod driver; second state information of the parallel joint structure is calculated according to the first state information on the basis of the corner relation of triangles contained in the parallel joint structure, the first state information represents one of the following two items, and the first state information represents the first state information; the second state information represents the other one of the following two items: a push rod length parameter of the linear push rod driver and an angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod; and controlling the robot to act according to the second state information. According to the technical scheme, the calculation efficiency of the robot control process and the accuracy of the calculation result can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot control method, a robot, an electronic device and a medium. Background Art

[0002] With the continuous advancement of science and technology, people's lives and work are gradually developing in the direction of intelligence. For example, robots are used to replace humans to perform some tasks with high precision, high complexity or other types. Generally, the joint angle parameters of the robot or the motor parameters on the robot can be calculated by iterative methods to control the movement of the robot. However, this calculation method has the problems of low efficiency and low accuracy. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a robot control method, a robot, an electronic device and a medium, which can improve the computational efficiency of the robot control process and the accuracy of the calculation results.

[0004] In a first aspect, an embodiment of the present application provides a robot control method, comprising: obtaining first state information of a parallel joint structure in a robot, wherein the parallel joint structure comprises a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver, the plurality of connecting rods comprising a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and the turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, the turning point being a connection point between a first sub-connection rod and a second sub-connection rod in the second connecting rod, and the linear push rod driver connecting the second joint and the fourth joint; calculating second state information of the parallel joint structure according to the first state information based on the side-angle relationship of a triangle contained in the parallel joint structure, wherein the first state information represents one of the following two items, and the second state information represents the other of the following two items: a push rod length parameter of the linear push rod driver, and an angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod; and controlling the robot action according to the second state information.

[0005] In a second aspect, an embodiment of the present application provides a robot control device, comprising: an acquisition module, used to acquire first state information of a parallel joint structure in the robot, wherein the parallel joint structure comprises a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver, the plurality of connecting rods comprising a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and the turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, the turning point being the connection point of the first sub-connection rod and the second sub-connection rod in the second connecting rod, and the linear push rod driver connecting the second joint and the fourth joint; a calculation module, used to calculate the second state information of the parallel joint structure according to the first state information based on the side-angle relationship of the triangle contained in the parallel joint structure, wherein the first state information represents one of the following two items, and the second state information represents the other of the following two items: a push rod length parameter of the linear push rod driver, and an angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod; a control module, used to control the robot action according to the second state information.

[0006] In a third aspect, an embodiment of the present application provides a robot, comprising a parallel joint structure and a control module, wherein the control module is used to execute the robot control method described in the first aspect above.

[0007] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the robot control method described in the first aspect above.

[0008] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the robot control method described in the first aspect above.

[0009] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the robot control method described in the first aspect above.

[0010] In a seventh aspect, an embodiment of the present application provides a chip comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the robot control method described in the first aspect above.

[0011] The embodiment of the present application provides a robot control method, a robot, an electronic device and a medium, by calculating the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure based on the angle relationship of the triangle contained in the parallel joint structure, or calculating the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure according to the first state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, so that the robot action can be controlled according to the calculated state information. In the embodiment of the present application, the required state information is calculated by the angle relationship of the triangle, that is, the calculation result is obtained by the kinematic analytical solution method, so that there is no need to establish an optimization problem, the complex calculation process of the traditional numerical iteration method is omitted, and the calculation time is greatly reduced, thereby improving the calculation efficiency. In addition, the calculation result is directly obtained by the kinematic analytical solution method, which can improve the accuracy of the calculation result and meet the precise motion control requirements of the robot in complex task scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Shown is a schematic diagram of the system architecture of a robot control system provided by an exemplary embodiment of the present application.

[0013] Figure 2 Shown is a flow chart of a robot control method provided by an exemplary embodiment of the present application.

[0014] Figure 3 Shown is a structural schematic diagram of a parallel joint structure provided by an exemplary embodiment of the present application.

[0015] Figure 4 Shown is a schematic diagram of auxiliary lines in a parallel joint structure provided by an exemplary embodiment of the present application.

[0016] Figure 5 Shown is a schematic diagram of auxiliary lines in a parallel joint structure provided by another exemplary embodiment of the present application.

[0017] Figure 6 Shown is a flow chart of a robot control method provided by another exemplary embodiment of the present application.

[0018] Figure 7 Shown is a flow chart of a robot control method provided by another exemplary embodiment of the present application.

[0019] Figure 8 Shown is a schematic structural diagram of a robot control device provided by an exemplary embodiment of the present application.

[0020] Fig. 9Shown is a block diagram of an electronic device for executing a robot control method provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] Application Overview

[0023] With the development of intelligent technology, more and more tasks can be performed by robots. For example, some robots can complete tasks independently, while some robots can interact with the environment and collaborate with other robots to complete tasks.

[0024] Currently in the field of robotics, such as bipedal robots, in order to improve the robot's mobility, a parallel joint structure is generally used to construct a certain part of the robot, such as the legs. In this case, it is necessary to solve the kinematic relationship between the joints and motors in the parallel joint structure in real time and accurately.

[0025] At present, the kinematic solution of parallel joint structures is mostly based on optimization methods. This method generally requires setting an iteration termination target, and then continuously iterating to obtain a numerical solution. For complex structures, this method requires continuous iterative solutions, so the solution speed is slow, which has a greater impact on systems with high real-time requirements. Moreover, this method is a numerical method, which has the problem of large precision loss due to discretization or iteration errors.

[0026] In view of the above technical problems, the embodiment of the present application provides a robot control method, which is based on the angle relationship of the triangle contained in the parallel joint structure, and according to the first state information representing the push rod length parameter of the linear push rod driver in the parallel joint structure, calculates the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, or according to the first state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, calculates the second state information representing the push rod length parameter of the linear push rod driver in the parallel joint structure, so that the robot action can be controlled according to the calculated state information. In the embodiment of the present application, the required state information is calculated by the angle relationship of the triangle, that is, the calculation result is obtained by the kinematic analytical solution method, so that there is no need to establish an optimization problem, the complex calculation process of the traditional numerical iteration method is omitted, and the calculation time is greatly reduced, thereby improving the calculation efficiency. In addition, the calculation result is directly obtained by the kinematic analytical solution method, which can improve the accuracy of the calculation result and meet the precise motion control requirements of the robot in complex task scenarios.

[0027] Exemplary Systems

[0028] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a robot control system provided by an exemplary embodiment of the present application. Figure 1 As shown, the robot control system 100 may include a robot 110, and the robot 110 may be a bipedal robot or other types of robots. Taking the bipedal robot as an example, the robot 110 may perform operations such as walking, running, and taking large strides. A controller 111 may be installed on the robot 110. The controller 111 may be used to control the robot 110 to execute the robot control method provided in the embodiment of the present application.

[0029] In one example, the controller 111 may obtain first state information of the parallel joint structure in the robot 110, calculate second state information of the parallel joint structure based on the side-angle relationship of the triangle included in the parallel joint structure according to the first state information, and control the robot movement according to the second state information.

[0030] In one example, if Figure 3 As shown, the parallel joint structure may include a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver. The plurality of connecting rods may include a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and the turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, the turning point being the connection point of the first sub-connecting rod and the second sub-connecting rod in the second connecting rod, and the linear push rod driver connecting the second joint and the fourth joint.

[0031] In one example, the parallel joint structure may be a structure of a bipedal robot leg. The controller 111 may control the parallel joint structure of the bipedal robot leg to move according to the second state information, thereby controlling the bipedal robot to perform operations such as walking, running, and striding.

[0032] In one example, the first state information may be a push rod length parameter of a linear push rod driver, and the second state information may be an angle parameter of the first link and / or the second link relative to the fixed link. In this example, the controller 111 may calculate the angle parameter of the first link and / or the second link relative to the fixed link in the parallel joint structure based on the side-angle relationship of the triangle included in the parallel joint structure and the push rod length parameter of the linear push rod driver in the parallel joint structure, thereby controlling the robot motion according to the calculated parameters.

[0033] In another example, the first state information may be an angle parameter of the first link and / or the second link relative to the fixed link, and the second state information may be a push rod length parameter of the linear push rod driver. In this example, the controller 111 may calculate the push rod length parameter of the linear push rod driver in the parallel joint structure based on the angle relationship of the triangle included in the parallel joint structure and the angle parameter of the first link and / or the second link relative to the fixed link in the parallel joint structure, so that the robot motion may be controlled according to the calculated parameter.

[0034] In other examples, the controller 111 may be located outside the robot 110, such as a device independent of the robot 110. Specifically, the controller 111 may be a server or a terminal device located outside the robot 110, and the terminal device may be a mobile phone, a notebook, or other device.

[0035] Exemplarily, the controller 111 may include at least one of a logic controller, a machine vision controller, a motion controller, and the like.

[0036] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0037] Exemplary Methods

[0038] Figure 2 Shown is a flow chart of a robot control method provided by an exemplary embodiment of the present application. Figure 2 The method can be Figure 1 The controller in is executed. Figure 2 As shown, the robot control method may include the following contents.

[0039] 210: Obtain first state information of the parallel joint structure in the robot.

[0040] Specifically, the parallel joint structure includes a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver, the plurality of connecting rods include a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and the turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, the turning point being the connection point of the first sub-connection and the second sub-connection in the second connecting rod, and the linear push rod driver connects the second joint and the fourth joint.

[0041] In one example, the robot may be a biped robot, a dual-arm robot, a wheeled robot, a tracked robot, or other types of robots. The robot may include a parallel joint structure, and in one example, the parallel joint structure may be a structure of the legs of the robot. In other examples, the parallel joint structure may be a structure of the arms, waist, hips, or other parts of the robot.

[0042] For example, when the robot is a biped robot, the parallel joint structure may be the structure of the thigh portion of the biped robot. In other examples, the parallel joint structure may also be the structure of the calf portion of the biped robot.

[0043] In one example, the parallel joint structure can be seen in Figure 3 Specifically, the parallel joint structure may include a first joint A, a second joint B, a third joint O and a fourth joint D, a plurality of connecting rods and a linear push rod driver Q. The plurality of connecting rods may include a first connecting rod L1 connecting the first joint A and the second joint B, a second connecting rod L2 connecting the third joint O and the fourth joint D, a third connecting rod L3 connecting the second joint B and the turning point C on the second connecting rod L2, and a fixed connecting rod L1 connecting the first joint A and the third joint O. g The turning point C is the first sub-link L in the second link L2. 21 and the second connecting rod L 22 The linear actuator Q connects the second joint B and the fourth joint D.

[0044] In one example, the fixed link L g It can be a fixed link on the robot. The first link L1, the second link L2 and the third link L3 can be rigid links. The linear push rod driver Q can be a linear push rod motor, a linear push rod cylinder, a linear push rod hydraulic cylinder or other drivers that can drive the push rod to move linearly.

[0045] In one example, the first joint A, the second joint B, the third joint O and the fourth joint D may be passive rotation joints, such as Figure 3As shown, the passive rotation joint can be represented by a counterclockwise arrow, and the rotation axis of the passive rotation joint can be perpendicular to the paper surface.

[0046] In one example, when the parallel joint structure is the structure of the leg of a robot, the main purpose of the parallel joint structure may be to achieve relative rotation of the second link L2 (i.e., the leg link) around the point where the third joint O is located by controlling the extension length of the push rod in the linear push rod driver.

[0047] In one example, the first state information can be used to characterize the state of the parallel joint structure. For example, the first state information can characterize the push rod length parameter of the linear push rod driver, or characterize the first link L1 and / or the second link L2 relative to the fixed link L g The angle parameter.

[0048] 220: Calculate second state information of the parallel joint structure according to the first state information based on the side-angle relationship of the triangles included in the parallel joint structure.

[0049] Specifically, the first state information represents one of the following two items, and the second state information represents the other of the following two items: a push rod length parameter of the linear push rod drive, and an angle parameter of the first link and / or the second link relative to the fixed link.

[0050] In one example, the parallel joint structure may be a closed structure, that is, a closed link. Figure 3 The parallel joint structure is composed of the first link L1, the linear push rod driver Q, the second link L2 and the fixed link L g Here, link ABD and link OCD are connected in parallel.

[0051] In one example, the parallel joint structure includes triangles, which may include fixed triangles and auxiliary triangles. The fixed triangle may be a triangle inherent in the parallel joint structure, such as Figure 3 The triangle BCD in . The auxiliary triangle can be a triangle obtained by adding auxiliary lines in the parallel joint structure, such as Figure 4 The triangles OAB and OBC in Figure 5 Triangle AOC and triangle ABC in.

[0052] In an example, the side-angle relationship of a triangle may include a side-angle relationship represented by the cosine theorem, a side-angle relationship represented by the sine theorem, or a side-angle relationship represented by other triangle properties or theorems.

[0053] 230: Control the robot action according to the second state information.

[0054] In one example, the first state information may be a push rod length parameter of a linear push rod driver, and the second state information may be an angle parameter of the first link and / or the second link relative to the fixed link. In this example, based on the angle relationship of the triangle included in the parallel joint structure, the angle parameter of the first link and / or the second link relative to the fixed link in the parallel joint structure may be calculated according to the push rod length parameter of the linear push rod driver in the parallel joint structure, so that the robot motion may be controlled according to the calculated parameters.

[0055] In another example, the first state information may be an angle parameter of the first link and / or the second link relative to the fixed link, and the second state information may be a push rod length parameter of the linear push rod driver. In this example, based on the angle relationship of the triangle included in the parallel joint structure, the push rod length parameter of the linear push rod driver in the parallel joint structure may be calculated according to the angle parameter of the first link and / or the second link relative to the fixed link in the parallel joint structure, so that the robot motion may be controlled according to the calculated parameter.

[0056] In one example, the robot motion may be controlled according to the calculated parameters, which may refer to controlling the parallel joint structure motion according to the calculated parameters, or controlling the structural motion of other parts of the robot, which may be set according to actual needs.

[0057] The embodiment of the present application provides a robot control method, which is based on the angle relationship of the triangle contained in the parallel joint structure, and according to the first state information representing the push rod length parameter of the linear push rod driver in the parallel joint structure, calculates the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, or according to the first state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, calculates the second state information representing the push rod length parameter of the linear push rod driver in the parallel joint structure, so that the robot action can be controlled according to the calculated state information. In the embodiment of the present application, the required state information is calculated by the angle relationship of the triangle, that is, the calculation result is obtained by the kinematic analytical solution method, so that there is no need to establish an optimization problem, the complex calculation process of the traditional numerical iteration method is omitted, and the calculation time is greatly reduced, thereby improving the calculation efficiency. In addition, the calculation result is directly obtained by the kinematic analytical solution method, which can improve the accuracy of the calculation result and meet the precise motion control requirements of the robot in complex task scenarios.

[0058] According to one embodiment of the present application, when the first state information represents the push rod length parameter of the linear push rod driver, the second state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod; when the first state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod, the second state information represents the push rod length parameter of the linear push rod driver.

[0059] In one example, in the case where the first state information or the second state information characterizes the push rod length parameter of the linear push rod driver, the first state information or the second state information may include the push rod length parameter of the linear push rod driver, or may include other parameters that indirectly characterize the push rod length parameter of the linear push rod driver. The push rod length parameter may include the extension amount of the push rod, such as the length of the cylinder body in the linear push rod driver that the push rod extends, or the push rod length parameter may include the overall extension amount of the linear push rod driver, such as the length change amount of the linear push rod driver between the second joint B and the fourth joint D before and after the push rod is extended. Optionally, the push rod length parameter may include the current overall length of the push rod, such as the current length of the linear push rod driver between the second joint B and the fourth joint D. Further, the length change amount of the push rod may be obtained based on the current overall length of the push rod and the initial overall length of the push rod.

[0060] In one example, in the case where the first state information or the second state information represents the angle parameter of the second link relative to the fixed link, the first state information or the second state information may include the angle parameter of the second link relative to the fixed link, or may include other parameters that indirectly represent the angle parameter of the second link relative to the fixed link. The angle parameter of the second link relative to the fixed link may include the angle change of the second link relative to the fixed link, such as the angle of rotation of the second link around the third joint O, or the angle parameter of the second link relative to the fixed link may include the current angle formed by the second link relative to the fixed link, such as the angle of the included angle formed by the second link and the fixed link. Further, the angle change of the second link relative to the fixed link may be obtained based on the current angle formed by the second link relative to the fixed link and the initial angle formed by the second link relative to the fixed link.

[0061] In other examples, when the first state information or the second state information represents the angle parameter of the first connecting rod relative to the fixed connecting rod, the specific content of the first state information or the second state information is similar to the case where the first state information or the second state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod, and in order to avoid repetition, it is not repeated here. Further, the angle parameter of the second connecting rod relative to the fixed connecting rod can be obtained according to the angle parameter of the first connecting rod relative to the fixed connecting rod, and then the relevant steps in the embodiment of the present application can be performed according to the angle parameter of the second connecting rod relative to the fixed connecting rod.

[0062] In this embodiment, the kinematic relationship between the push rod length parameter of the linear push rod driver and the angle parameter of the second connecting rod relative to the fixed connecting rod can be constructed based on the angle relationship of the triangle contained in the parallel joint structure, so as to obtain the corresponding analytical solution. For example, in the case of obtaining the push rod length parameter of the linear push rod driver, the angle parameter of the second connecting rod relative to the fixed connecting rod can be solved according to the push rod length parameter of the linear push rod driver, and the solution process is equivalent to the solution process of the kinematic forward solution. For another example, in the case of obtaining the angle parameter of the second connecting rod relative to the fixed connecting rod, the push rod length parameter of the linear push rod driver can be solved according to the angle parameter of the second connecting rod relative to the fixed connecting rod, and the solution process is equivalent to the solution process of the kinematic inverse solution. The kinematic analytical solution solution method provided by this embodiment can realize the solution process of the kinematic forward solution or the kinematic inverse solution, and can improve the efficiency and accuracy of the solution process.

[0063] According to an embodiment of the present application, when the first state information represents the push rod length change parameter of the linear push rod driver, the second state information represents the angle change parameter of the second connecting rod relative to the fixed connecting rod, and one end of the second sub-connecting rod is connected to the fourth joint, wherein step 220 may include: obtaining the current push rod length parameter of the linear push rod driver according to the push rod length change parameter and the initial push rod length parameter of the linear push rod driver; using the cosine theorem, based on the current push rod length parameter, the length parameter of the first sub-connecting rod, the length parameter of the second sub-connecting rod, and the length parameter of the third connecting rod, obtaining the distance parameter between the second joint and the third joint; using the cosine theorem, based on the distance parameter, the length parameter of the first connecting rod, the length parameter of the fixed connecting rod, the length parameter of the third connecting rod, and the length parameter of the first sub-connecting rod, obtaining the angle change parameter.

[0064] In one example, if Figure 3 As shown, the push rod length change parameter of the linear push rod driver Q may include the length change amount of the linear push rod driver Q between the second joint B and the fourth joint D.

[0065] In one example, if Figure 3 As shown, the second link L2 is relative to the fixed link L g The angle variation parameters may include the second link L2 relative to the fixed link L g The angle change, that is, the angle at which the second link L2 rotates around the third joint O. 22 One end is connected to the fourth joint D, and the other end is located at the turning point C.

[0066] In one example, the push rod length change parameter can be expressed as ΔL bd ; The initial push rod length parameter of the linear push rod drive can be expressed as L bd0, which is used to characterize the initial length of the linear actuator Q between the second joint B and the fourth joint D; the current actuator length parameter can be expressed as L bd , used to characterize the initial length of the linear push rod drive Q between the second joint B and the fourth joint D. Push rod length change parameter △L bd It can be obtained through the operating parameters of the linear actuator driver Q. For example, when the linear actuator driver is a linear actuator motor, the actuator length change parameter △L can be determined through the motor's operating parameters such as speed. bd .

[0067] In one example, the side-angle relationship of the triangle may include the side-angle relationship represented by the cosine theorem. Using the cosine theorem, based on the current putter length parameter L bd , the first connecting rod L 21 The length parameter of the second connecting rod L 22 The length parameter of and the length parameter of the third link L3 are used to obtain the distance parameter between the second joint B and the third joint O.

[0068] Specifically, Figure 4 As shown, the length of each connecting rod can be fixed. 21 and the second connecting rod L 22 The angle OCD formed is also fixed. Before the push rod is extended in the linear push rod drive Q, the initial angle of the angle AOC can be expressed as ∠AOC0.

[0069] According to the change parameter △L of the push rod length bd and the initial push rod length parameter L of the linear push rod drive bd0 , the current push rod length parameter L of the linear push rod driver can be obtained bd , that is, in triangle BCD, the length L of BD bd =L bd0 +△L bd In triangle BCD, the value of angle BCD can be obtained by the current push rod length parameter L bd , the second connecting rod L 22 The length parameter (L cd ) and the length parameter (L bc ) can be obtained by the following formula (based on the cosine theorem):

[0070]

[0071] Then ∠OCB=∠OCD-∠BCD

[0072] Since angle OCD is fixed, angle OCB can be obtained based on angle BCD.

[0073] Further, in Figure 4 By constructing the auxiliary line OB, we can get the auxiliary triangle OBC. In the triangle OBC, the length L of the auxiliary line OB is ob Through the angle OCB, the first sub-link L 21 The length parameter (L oc ) and the length parameter (L bc ) can be obtained by the following formula (based on the cosine theorem):

[0074]

[0075] Furthermore, the cosine theorem can be used to calculate the distance parameter L. ob , the length parameter of the first connecting rod L1 (L ab ), fixed connecting rod L g The length parameter (L oa ), length parameter of the third link L3 (L bc ) and the first connecting rod L 21 The length parameter (L oc ), and get the angle change parameter.

[0076] Specifically, when the three side lengths of triangle OBC are known, angle BOC can be obtained according to the cosine theorem, that is:

[0077]

[0078] In triangle OAB, the three sides of triangle OAB are known, and angle AOB can be obtained according to the cosine theorem, that is:

[0079]

[0080] According to the angles AOB and BOC, the current angle ∠AOC of the angle AOC can be obtained, that is:

[0081] ∠AOC=∠AOB+∠BOC

[0082] According to the current angle ∠AOC of angle AOC and the initial angle ∠AOC0, the angle change parameter can be obtained, namely:

[0083] △∠AOC=∠AOC-∠AOC0

[0084] Of course, the above example is only one way to calculate the angle change parameter. The embodiment of the present application can also construct other auxiliary lines, or calculate the angle change parameter through other side angle relationships of the triangle. Figure 4In, auxiliary line AC can be constructed. When the three side lengths of triangle BCD are known, angle BCD can be obtained; since angle OCD is fixed, angle OCB can be obtained according to angle BCD; in triangle ABC, angle ACB can be expressed by the cosine theorem, that is, equation 1 is obtained, and in triangle AOC, angle ACO can be expressed by the cosine theorem, that is, equation 2 is obtained. In equations 1 and 2. The length of AC is unknown, so two expressions of the length of AC can be obtained according to equations 1 and 2 respectively, and these two expressions are equal (condition 1), where the sum of angle ACB and angle ACO is known (condition 2), that is, angle OCB, and the length of AC can be obtained by the above conditions 1 and 2. Further, in triangle AOC, the three side lengths are known, and angle ACO is known, so the current angle ∠AOC of angle AOC can be obtained by the cosine theorem or the sine theorem. According to the current angle ∠AOC of angle AOC and the initial angle ∠AOC0, the angle change parameter can be obtained.

[0085] In this embodiment, by constructing the auxiliary line OB, the calculation process of the angle change parameter can be further simplified, thereby improving the calculation efficiency of the kinematics forward solution.

[0086] According to an embodiment of the present application, when the first state information represents the angle change parameter of the second link relative to the fixed link, the second state information represents the push rod length change parameter of the linear push rod driver, wherein step 220 may include: obtaining the current angle parameter of the second link according to the angle change parameter and the initial angle parameter of the second link relative to the fixed link; using the cosine theorem, based on the current angle parameter, the length parameter of the fixed link, and the length parameter of the first sub-link, obtaining the distance parameter between the first joint and the fourth joint; using the cosine theorem, based on the distance parameter, the length parameter of the first link, the length parameter of the third link, the length parameter of the fixed link, and the length parameter of the first sub-link, obtaining the angle parameter of the first sub-link relative to the third link; using the cosine theorem, based on the angle parameter of the first sub-link relative to the second sub-link, the angle parameter of the first sub-link relative to the third link, the length parameter of the third link, and the length parameter of the second sub-link, obtaining the push rod length change parameter.

[0087] Specifically, the specific content of the push rod length change parameter of the linear push rod driver Q and the second connecting rod L2 relative to the fixed connecting rod L g The angle variation parameters can be found in the description of the above embodiment, and will not be described again here to avoid repetition.

[0088] In one example, see Figure 5, the angle change parameter can be expressed as △∠AOC. In some cases, the angle change parameter can be an expected angle change parameter, that is, a parameter that characterizes the expected angle of rotation of the second link around O. The initial angle parameter of the second link relative to the fixed link can characterize the initial angle of the angle formed by the second link and the fixed link, and the initial angle can be expressed as ∠AOC0. The current angle parameter of the second link can characterize the current angle of the angle formed by the second link and the fixed link, and the current angle can be expressed as ∠AOC. According to the angle change parameter and the initial angle parameter of the second link relative to the fixed link, the current angle parameter of the second link is obtained, that is:

[0089] ∠AOC=△∠AOC+∠AOC0

[0090] In one example, the side-angle relationship of the triangle may include the side-angle relationship represented by the cosine theorem. Using the cosine theorem, based on the current angle parameter ∠AOC, the fixed connecting rod L g The length parameter (L oa ), the first connecting rod L 21 The length parameter (L oc ), and obtain the distance parameter (L) between the first joint and the fourth joint ac ).

[0091] Specifically, Figure 5 As shown, the length of each connecting rod can be fixed. 21 and the second connecting rod L 22 The angle OCD formed is also fixed. Before the push rod is extended in the linear push rod drive Q, the initial angle of the angle AOC can be expressed as ∠AOC0.

[0092] exist Figure 5 By constructing the auxiliary line AC, we can get the auxiliary triangle AOC. In the triangle AOC, the length L of the auxiliary line AC is ac Through the angle AOC, fixed link L g The length parameter (L oa ), the first connecting rod L 21 The length parameter (L oc ) can be obtained by the following formula (based on the cosine theorem):

[0093]

[0094] Furthermore, using the cosine theorem, based on the distance parameter L ac , the length parameter of the first connecting rod L1 (L ab ), length parameter of the third link L3 (L bc ), fixed connecting rod L g The length parameter (L oa) and the first connecting rod L 21 The length parameter (L oc ), and obtain the angle parameter of the first sub-link relative to the third link.

[0095] Specifically, in triangle AOC, the three side lengths are known, and ∠OCA can be obtained by the following formula (based on the cosine theorem):

[0096]

[0097] In triangle ABC, the three side lengths are known, and ∠ACB can be obtained by the following formula (based on the law of cosines):

[0098]

[0099] According to ∠OCA and ∠ACB, the angle parameter of the first sub-link relative to the third link can be obtained, that is, the current angle ∠OCB formed by the first sub-link and the third link can be obtained. The formula is as follows:

[0100] ∠OCB=∠OCA+∠ACB

[0101] Furthermore, the cosine theorem is used, based on the angle parameter ∠OCD of the first sub-connecting rod relative to the second sub-connecting rod, the angle parameter ∠OCB of the first sub-connecting rod relative to the third connecting rod, and the length parameter (L bc ) and the second connecting rod L 22 The length parameter (L cd ), and obtain the push rod length change parameter.

[0102] Specifically, since the angle OCD is fixed, the angle BCD can be obtained according to the angle OCB, and the formula is as follows:

[0103] ∠BCD=∠OCD-∠OCB

[0104] In the triangle BCD, the current push rod length parameter L of the linear push rod drive can be obtained by the following formula (based on the cosine theorem): bd :

[0105]

[0106] Push rod length change parameter △L bd According to the initial push rod length parameter L of the linear push rod drive bd0 And the current push rod length parameter L of the linear push rod drive bd Get, that is:

[0107] △L bd =L bd -L bd0

[0108] Of course, the above example is only one way to calculate the push rod length change parameter. In the embodiment of the present application, other auxiliary lines can be constructed, or the push rod length change parameter can be calculated through other side angle relationships of the triangle. Figure 5 In the figure, an auxiliary line BO can be constructed to calculate the push rod length change parameters.

[0109] In this embodiment, by constructing the auxiliary line AC, the calculation process of the push rod length change parameter can be further simplified, and the calculation efficiency of the kinematic inverse solution can be improved.

[0110] According to one embodiment of the present application, step 230 may include: determining the target parameters corresponding to the parallel joint structure based on the angle change parameters, the target parameters including at least one of the following: posture parameters, velocity parameters, acceleration parameters of the target joint in the parallel joint structure, posture parameters, velocity parameters, acceleration parameters of the end of the robot; controlling the robot movement according to the target parameters.

[0111] In one example, the calculation process of obtaining the angle change parameter according to the push rod length change parameter, that is, the kinematics forward solution solution process, can be applied to application scenarios where the current state of the robot needs to be known for subsequent kinematic calculations. For example, in the initial state of the robot, it is necessary to understand the robot's joint angle parameters at this time, such as the angle change parameter or the angle parameter, so that subsequent kinematic calculations can be performed based on the angle change parameter or the angle parameter to achieve control of the robot, such as controlling the robot to perform corresponding tasks.

[0112] The state of the robot can be represented by state information, such as first state information or second state information.

[0113] In one example, after obtaining the angle change parameter or the angle parameter, the target parameter corresponding to the parallel joint structure can be determined. The target parameter corresponding to the parallel joint structure can include the posture parameter of the target joint in the parallel joint structure, such as the posture parameter of the target joint can be obtained according to the angle change parameter or the angle parameter.

[0114] In one example, the velocity parameter of the target joint can be obtained according to the angle change parameter. In other examples, when the second state information is the angle change parameter, the angle parameter can be obtained according to the angle change parameter, that is, the joint angle can be obtained, and the velocity parameter of the target joint can be obtained by deriving the joint angle. When the second state information is the angle parameter (i.e., the joint angle), the velocity parameter of the target joint can be obtained by directly deriving the joint angle.

[0115] In one example, after the velocity parameter of the target joint is obtained, the velocity parameter may be derived to obtain the acceleration parameter of the target joint.

[0116] In one example, after obtaining the posture parameters of a specific joint in the parallel joint structure, the posture parameters of the end of the robot can be obtained according to the posture parameters of the specific joint. The end of the robot can be the center point of the foot of the robot or other parts, which can be set according to actual needs.

[0117] In one example, after obtaining the posture parameters of the end of the robot, the speed parameters and acceleration parameters of the end of the robot can be obtained according to the posture parameters. Alternatively, the speed parameters of the end of the robot can be obtained according to the speed parameters of the target joint, and the acceleration parameters of the end of the robot can be obtained according to the acceleration parameters of the target joint.

[0118] In this embodiment, the current state of the robot can be understood through the process of solving the kinematics forward solution, and then the subsequent control process of the robot can be facilitated based on the current state of the robot, thereby improving the real-time and accuracy of the robot control process.

[0119] According to one embodiment of the present application, the angle change parameter is used to characterize the expected angle change parameter, wherein step 230 may include: controlling the extension or shortening of the push rod in the robot's linear push rod driver according to the push rod length change parameter, so that the angle of the second link relative to the fixed link changes according to the expected angle change parameter.

[0120] In one example, the calculation process of obtaining the push rod length change parameter according to the angle change parameter, that is, the process of solving the inverse kinematic solution, can be applied to the application scenario where the desired angle change parameter is known and the push rod length change parameter needs to be calculated to realize the rotation of the second connecting rod according to the desired angle change parameter. Specifically, the push rod in the linear push rod driver can be controlled to extend or shorten based on the push rod length change parameter so that the angle of the second connecting rod relative to the fixed connecting rod changes according to the desired angle change parameter.

[0121] In this embodiment, the push rod length change parameter can be obtained through the kinematic inverse solution process, and the push rod in the linear push rod driver is controlled to extend or shorten based on the push rod length change parameter, so that the angle of the second connecting rod relative to the fixed connecting rod changes according to the desired angle change parameter, thereby improving the real-time and accuracy of the robot control process.

[0122] According to an embodiment of the present application, the first link, the second link, and the third link are rigid links of the legs of the robot.

[0123] In one example, the first link, the second link, and the third link may be rigid links of a thigh portion of the robot.

[0124] In this embodiment, the linear push rod driver can provide greater power than the ordinary driver. Therefore, by setting the linear push rod driver in the parallel joint structure, the linear push rod driver is used to drive the second connecting rod to rotate, so that the robot can perform large movements, such as running, leaping, etc. In this embodiment, sensors do not need to be set at joints A, O and C, because the joint angle AOC can be obtained through the push rod length parameter or the push rod length change parameter, which can reduce the weight of the robot and reduce the bulkiness of the robot.

[0125] Figure 6 FIG. 1 is a flow chart of a robot control method provided by another exemplary embodiment of the present application. Figure 6 The method corresponds to the process of solving the kinematic positive solution. Figure 6 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 6 As shown, the robot control method may include the following contents.

[0126] 610: Get the push rod length change parameter of the linear push rod driver of the parallel joint structure in the robot.

[0127] The specific contents of the parallel joint structure and the specific contents of the push rod length variation parameters can be found in the description of the above embodiments, and will not be described again here to avoid repetition.

[0128] 620: Obtain a current push rod length parameter of the linear push rod driver according to the push rod length change parameter and the initial push rod length parameter of the linear push rod driver.

[0129] 630: Using the cosine theorem, based on the current push rod length parameter, the length parameter of the first sub-link in the parallel joint structure, the length parameter of the second sub-link, and the length parameter of the third link, the distance parameter between the second joint and the third joint in the parallel joint structure is obtained.

[0130] 640: Using the cosine theorem, based on the distance parameter, the length parameter of the first link in the parallel joint structure, the length parameter of the fixed link, the length parameter of the third link and the length parameter of the first sub-link, the angle change parameter of the second link relative to the fixed link is obtained.

[0131] 650: Control robot motion according to angle change parameters.

[0132] Figure 7 FIG. 1 is a flow chart of a robot control method provided by another exemplary embodiment of the present application. Figure 7 The method corresponds to the process of solving the inverse kinematic solution. Figure 7 The embodiment is Figure 2For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 7 As shown, the robot control method may include the following contents.

[0133] 710: Obtain the expected angle change parameter of the second link of the parallel joint structure in the robot relative to the fixed link.

[0134] The specific contents of the parallel joint structure and the specific contents of the expected angle change parameters can be found in the description of the above embodiments, and will not be repeated here to avoid repetition.

[0135] 720: Obtain a current angle parameter of the second link according to the expected angle change parameter and the initial angle parameter of the second link relative to the fixed link.

[0136] In one example, since the current angle parameter is obtained according to the expected angle change parameter, the current angle parameter is also the expected angle parameter.

[0137] 730: Using the law of cosines, based on the current angle parameter, the length parameter of the fixed link in the parallel joint structure, and the length parameter of the first sub-link, obtain the distance parameter between the first joint and the fourth joint in the parallel joint structure.

[0138] 740: Using the cosine theorem, based on the distance parameter, the length parameter of the first link in the parallel joint structure, the length parameter of the third link, the length parameter of the fixed link and the length parameter of the first sub-link, the angle parameter of the first sub-link relative to the third link in the parallel joint structure is obtained.

[0139] 750: Using the cosine theorem, based on the angle parameter of the first sub-link relative to the second sub-link, the angle parameter of the first sub-link relative to the third link, the length parameter of the third link and the length parameter of the second sub-link in the parallel joint structure, the push rod length change parameter is obtained.

[0140] 760: Control the robot motion according to the push rod length change parameters.

[0141] Specifically, the robot action can be controlled according to the push rod length change parameter, so that the second link of the parallel joint structure in the robot rotates relative to the fixed link according to the desired angle change parameter.

[0142] Exemplary Devices

[0143] Figure 8 FIG. 1 is a schematic diagram of the structure of a robot control device provided by an exemplary embodiment of the present application. Figure 8 As shown, the robot control device 800 includes: an acquisition module 810 , a calculation module 820 , and a control module 830 .

[0144] An acquisition module 810 is used to acquire first state information of a parallel joint structure in a robot, wherein the parallel joint structure includes a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver, wherein the plurality of connecting rods include a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and the turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, wherein the turning point is a connection point between a first sub-connection rod and a second sub-connection rod in the second connecting rod, and the linear push rod driver connects the second joint and the fourth joint; a calculation module 820 is used to calculate second state information of the parallel joint structure according to the first state information based on the side-angle relationship of a triangle contained in the parallel joint structure, wherein the first state information represents one of the following two items, and the second state information represents the other of the following two items: a push rod length parameter of the linear push rod driver, and an angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod; a control module 830 is used to control the robot action according to the second state information.

[0145] The embodiment of the present application provides a robot control device, which calculates the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure based on the angle relationship of the triangle contained in the parallel joint structure, or calculates the second state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure according to the first state information representing the angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod in the parallel joint structure, so that the robot action can be controlled according to the calculated state information. In the embodiment of the present application, the required state information is calculated by the angle relationship of the triangle, that is, the calculation result is obtained by the kinematic analytical solution method, so that there is no need to establish an optimization problem, the complex calculation process of the traditional numerical iteration method is omitted, and the calculation time is greatly reduced, thereby improving the calculation efficiency. In addition, the calculation result is directly obtained by the kinematic analytical solution method, which can improve the accuracy of the calculation result and meet the precise motion control requirements of the robot in complex task scenarios.

[0146] According to one embodiment of the present application, when the first state information represents the push rod length parameter of the linear push rod driver, the second state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod; when the first state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod, the second state information represents the push rod length parameter of the linear push rod driver.

[0147] According to an embodiment of the present application, in the case where the first state information represents the push rod length change parameter of the linear push rod driver, the second state information represents the angle change parameter of the second connecting rod relative to the fixed connecting rod, and one end of the second sub-connecting rod is connected to the fourth joint. The calculation module 820 is used to: obtain the current push rod length parameter of the linear push rod driver according to the push rod length change parameter and the initial push rod length parameter of the linear push rod driver; use the cosine theorem to obtain the distance parameter between the second joint and the third joint based on the current push rod length parameter, the length parameter of the first sub-connecting rod, the length parameter of the second sub-connecting rod, and the length parameter of the third connecting rod; use the cosine theorem to obtain the angle change parameter based on the distance parameter, the length parameter of the first connecting rod, the length parameter of the fixed connecting rod, the length parameter of the third connecting rod, and the length parameter of the first sub-connecting rod.

[0148] According to an embodiment of the present application, in the case where the first state information represents the angle change parameter of the second connecting rod relative to the fixed connecting rod, the second state information represents the push rod length change parameter of the linear push rod driver. The calculation module 820 is used to: obtain the current angle parameter of the second connecting rod according to the angle change parameter and the initial angle parameter of the second connecting rod relative to the fixed connecting rod; use the cosine theorem to obtain the distance parameter between the first joint and the fourth joint based on the current angle parameter, the length parameter of the fixed connecting rod, and the length parameter of the first sub-connecting rod; use the cosine theorem to obtain the angle parameter of the first sub-connecting rod relative to the third connecting rod based on the distance parameter, the length parameter of the first connecting rod, the length parameter of the third connecting rod, the length parameter of the fixed connecting rod, and the length parameter of the first sub-connecting rod; use the cosine theorem to obtain the push rod length change parameter based on the angle parameter of the first sub-connecting rod relative to the second sub-connecting rod, the angle parameter of the first sub-connecting rod relative to the third connecting rod, the length parameter of the third connecting rod, and the length parameter of the second sub-connecting rod.

[0149] According to one embodiment of the present application, the control module 830 is used to: determine the target parameters corresponding to the parallel joint structure according to the angle change parameters, the target parameters including at least one of the following: the posture parameters, velocity parameters, acceleration parameters of the target joint in the parallel joint structure, the posture parameters, velocity parameters, acceleration parameters of the end of the robot; and control the robot movement according to the target parameters.

[0150] According to an embodiment of the present application, the angle change parameter is used to characterize the expected angle change parameter. The control module 830 is used to: control the push rod in the linear push rod driver of the robot to extend or shorten according to the push rod length change parameter, so that the angle of the second link relative to the fixed link changes according to the expected angle change parameter.

[0151] According to an embodiment of the present application, the first link, the second link, and the third link are rigid links of the legs of the robot.

[0152] It should be understood that the operations and functions of the acquisition module 810, the calculation module 820, and the control module 830 in the above embodiment can refer to the above Figure 2 , Figure 6 or Figure 7 In order to avoid repetition, the description of the robot control method provided in the embodiment will not be repeated here.

[0153] An embodiment of the present application also provides a robot, which includes a parallel joint structure and a control module, and the control module is used to execute the robot control method provided in any of the above embodiments.

[0154] In some embodiments, the robot may be a bipedal robot, a dual-arm robot, a wheeled robot, a tracked robot, or other types of robots.

[0155] The operation and functions of the robot provided in the embodiment of the present application can refer to the above Figure 2 , Figure 6 or Figure 7 In order to avoid repetition, the description of the robot control method provided in the embodiment will not be repeated here.

[0156] Fig. 9 The block diagram of an electronic device 900 for executing a robot control method provided by an exemplary embodiment of the present application is shown. The electronic device 900 may specifically be a server, a robot, a control device of a robot, a server interacting with a robot, or other devices.

[0157] Reference Fig. 9 The electronic device 900 includes a processing component 910, which further includes one or more processors, and a memory resource represented by a memory 920 for storing instructions executable by the processing component 910, such as an application. The application stored in the memory 920 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 910 is configured to execute instructions to perform the above-mentioned robot control method.

[0158] The electronic device 900 may also include a power supply component configured to perform power management of the electronic device 900, a wired or wireless network interface configured to connect the electronic device 900 to a network, and an input / output (I / O) interface. The electronic device 900 may be operated based on an operating system stored in the memory 920, such as Windows Server 2008. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0159] A non-temporary computer-readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 900, enables the electronic device 900 to execute a robot control method.

[0160] A computer program product includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the robot control method provided by any of the above embodiments.

[0161] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0162] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0163] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0164] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0167] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0168] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0170] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A robot control method, characterized in that: include: Acquire first state information of a parallel joint structure in a robot, wherein the parallel joint structure includes a first joint, a second joint, a third joint and a fourth joint, a plurality of connecting rods and a linear push rod driver, the plurality of connecting rods include a first connecting rod connecting the first joint and the second joint, a second connecting rod connecting the third joint and the fourth joint, a third connecting rod connecting the second joint and a turning point on the second connecting rod, and a fixed connecting rod connecting the first joint and the third joint, the turning point is a connecting point of a first sub-connecting rod and a second sub-connecting rod in the second connecting rod, and the linear push rod driver connects the second joint and the fourth joint; Based on the side-angle relationship of the triangle included in the parallel joint structure, second state information of the parallel joint structure is calculated according to the first state information, wherein the first state information represents one of the following two items, and the second state information represents the other of the following two items: a push rod length parameter of the linear push rod drive, and an angle parameter of the first connecting rod and / or the second connecting rod relative to the fixed connecting rod; The robot movement is controlled according to the second state information.

2. The robot control method according to claim 1, characterized in that: When the first state information represents the push rod length parameter of the linear push rod driver, the second state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod. When the first state information represents the angle parameter of the second connecting rod relative to the fixed connecting rod, the second state information represents the push rod length parameter of the linear push rod driver.

3. The robot control method according to claim 1, characterized in that: In the case where the first state information represents a change parameter of the push rod length of the linear push rod driver, the second state information represents a change parameter of the angle of the second connecting rod relative to the fixed connecting rod, and one end of the second sub-connecting rod is connected to the fourth joint, wherein the second state information of the parallel joint structure is calculated according to the first state information based on the side-angle relationship of the triangle included in the parallel joint structure, including: Obtaining a current push rod length parameter of the linear push rod driver according to the push rod length variation parameter and an initial push rod length parameter of the linear push rod driver; Using the law of cosines, based on the current push rod length parameter, the first sub-connecting rod length parameter, the second sub-connecting rod length parameter, and the third connecting rod length parameter, a distance parameter between the second joint and the third joint is obtained; The angle change parameter is obtained by using the law of cosines based on the distance parameter, the length parameter of the first connecting rod, the length parameter of the fixed connecting rod, the length parameter of the third connecting rod and the length parameter of the first sub-connecting rod.

4. The robot control method according to claim 1, characterized in that: In the case where the first state information represents an angle change parameter of the second connecting rod relative to the fixed connecting rod, the second state information represents a push rod length change parameter of the linear push rod driver, wherein the second state information of the parallel joint structure is calculated according to the first state information based on the side angle relationship of the triangle included in the parallel joint structure, including: Obtaining a current angle parameter of the second connecting rod according to the angle change parameter and an initial angle parameter of the second connecting rod relative to the fixed connecting rod; Using the law of cosines, based on the current angle parameter, the length parameter of the fixed connecting rod, and the length parameter of the first sub-connecting rod, a distance parameter between the first joint and the fourth joint is obtained; Using the law of cosines, based on the distance parameter, the length parameter of the first connecting rod, the length parameter of the third connecting rod, the length parameter of the fixed connecting rod, and the length parameter of the first sub-connecting rod, an angle parameter of the first sub-connecting rod relative to the third connecting rod is obtained; The cosine theorem is used to obtain the push rod length change parameter based on the angle parameter of the first sub-connecting rod relative to the second sub-connecting rod, the angle parameter of the first sub-connecting rod relative to the third connecting rod, the length parameter of the third connecting rod and the length parameter of the second sub-connecting rod.

5. The robot control method according to claim 3, characterized in that: The controlling the robot action according to the second state information comprises: Determine the target parameter corresponding to the parallel joint structure according to the angle change parameter, the target parameter including at least one of the following: the posture parameter, velocity parameter, acceleration parameter of the target joint in the parallel joint structure, the posture parameter, velocity parameter, acceleration parameter of the end of the robot; The robot action is controlled according to the target parameter.

6. The robot control method according to claim 4, characterized in that: The angle change parameter is used to characterize the expected angle change parameter, wherein controlling the robot action according to the second state information includes: The push rod in the linear push rod driver of the robot is controlled to extend or shorten according to the push rod length change parameter, so that the angle of the second link relative to the fixed link changes according to the desired angle change parameter.

7. The robot control method according to any one of claims 1 to 6, characterized in that: The first link, the second link, and the third link are rigid links of the legs of the robot.

8. A robot, characterized in that: It comprises a parallel joint structure and a control module, and the control module is used to execute the robot control method described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor, Wherein, the processor is used to execute the robot control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the robot control method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the robot control method according to any one of claims 1 to 7.

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