Robot motion control method and system, electronic equipment and medium

Abstract

The invention discloses a robot motion control method and system, electronic equipment and a medium, and the robot motion control method comprises the steps: obtaining the initial joint speed at the starting moment of a robot; generating a periodic compensation speed signal; determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal; generating a starting friction force corresponding to the initial joint speed; determining the motion state of the robot according to the external force applied to the robot and the starting friction force. The high-frequency low-amplitude periodic compensation speed signal is added at the moment of starting the robot, so that the high frequency alternately outputs the starting friction force in the positive direction and the negative direction, the influence of the friction force on the external force for dragging the robot at the moment of starting is reduced, and the dragging effect of the robot is improved.

Description

Technical Field

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

[0002] The robot motion control method that is widely used now requires the establishment and identification of a dynamic model of the robot system, and then the calculation of the output signal (motor current) of the drag robot control based on the dynamic model. The control method is relatively complex, but does not require any external sensors.

[0003] Since friction and speed are closely related in the robot dynamic model, especially during the startup process, how to accurately judge the movement direction of the joint at the startup moment, so as to output the correct friction compensation force, is directly related to the drag control effect. However, in actual situations, the direction of the motor is usually not specifically judged at the startup moment, and it is assumed that there is no friction at the startup moment, and no friction compensation is performed; instead, after the joint actually moves, the corresponding current is output according to the speed direction to compensate for the friction. This will cause the problem of excessive starting force in the robot drag control due to the need to overcome a large amount of friction. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defect of excessive robot starting force in the prior art and to provide a robot motion control method, system, electronic equipment and medium.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a robot motion control method, the robot motion control method comprising:

[0007] Obtaining the initial joint velocity of the robot at the moment of startup;

[0008] generating a period-compensated speed signal;

[0009] Determine the starting joint speed according to the initial joint speed and the periodic compensation speed signal

[0010] generating a starting friction force corresponding to the initial joint velocity;

[0011] The motion state of the robot is determined according to the external force applied to the robot and the starting friction force.

[0012] Preferably, the step of determining the starting joint speed according to the initial joint speed and the periodic compensation speed signal comprises:

[0013] The sum of the initial joint velocity and the period-compensated velocity signal is determined as the starting joint velocity.

[0014] Preferably, the step of determining the motion state of the robot according to the external force applied to the robot and the starting friction force comprises:

[0015] If the direction of the external force applied to the robot is the same as the direction of the starting friction force, then determining that the robot moves in the direction of the external force;

[0016] If the direction of the external force applied to the robot is different from the direction of the starting friction force, it is determined that the robot is not moving.

[0017] Preferably, the step of generating a starting friction force corresponding to the initial joint velocity comprises:

[0018] The initial joint velocity is input into the friction model to obtain the starting friction.

[0019] Preferably, the friction force model includes a Coulomb friction force model and a viscous friction force model.

[0020] Preferably, the frequency of the periodic compensation speed signal is greater than 50 Hz.

[0021] Preferably, the step of obtaining the initial joint velocity of the robot at the moment of startup includes:

[0022] Obtain the minimum parameter set through dynamic modeling analysis methods and parameter identification techniques;

[0023] The initial joint speed of the robot at the moment of starting is determined according to the minimum parameter set.

[0024] The present invention also provides a robot motion control system, the robot motion control system comprising:

[0025] An acquisition module, used to acquire the initial joint velocity of the robot at the moment of startup;

[0026] A generating module, used for generating the periodic compensation speed signal;

[0027] A determination module, used for determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal;

[0028] The generating module is further used to generate a starting friction force corresponding to the initial joint velocity;

[0029] The determination module is also used to determine the motion state of the robot according to the external force applied to the robot and the starting friction force.

[0030] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor implements the above-mentioned robot motion control method when executing the computer program.

[0031] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the robot motion control method described above is implemented.

[0032] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0033] The positive and progressive effects of the present invention are:

[0034] The present invention increases a high-frequency and low-amplitude periodic compensation speed signal at the moment of starting the robot, so that the high frequency alternately outputs starting friction forces in positive and negative directions, thereby reducing the influence of the friction force at the moment of starting on the external force that drags the robot and improving the robot dragging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of a robot motion control method according to embodiment 1 of the present invention;

[0036] Figure 2 A flowchart of dragging a robot by a current control method, which is a specific example of the robot motion control method of embodiment 1 of the present invention;

[0037] Figure 3 This is a flowchart of a method for optimizing the friction force when the robot starts, which is a specific example of the robot motion control method of embodiment 1 of the present invention;

[0038] Figure 4 A diagram showing possible values ​​of a periodic compensation speed signal of a specific example of the robot motion control method according to Embodiment 1 of the present invention;

[0039] Figure 5 Schematic diagram of a friction force model under ideal conditions of the robot motion control method according to Example 1 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of a robot motion control system according to Embodiment 2 of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of an electronic device according to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0042] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0043] Example 1

[0044] The present invention provides a robot motion control method, which is different from the existing robot motion control method. The current robot motion control method usually does not compensate for the friction force at the moment of robot startup. Because in the theoretical model, the initial joint speed at the moment of robot startup is zero. However, in practice, the initial joint speed measured by the sensor will be interfered by uncontrollable factors, affecting the starting friction of the robot. The external force applied to the robot needs to overcome the uncompensated friction force in order to make the robot move. In this case, if the magnitude of the starting friction force is large and the direction is opposite to the direction of the external force applied to the robot, the intuitive manifestation is that the starting force is too large when the robot is dragged and controlled, and the control effect is not good. Therefore, in order to overcome the problem of excessive starting force of the robot, the robot motion control method of this embodiment adds a periodic compensation speed signal to compensate for the initial joint speed at the moment of robot startup, so that a controllable starting friction force can be obtained. See. Figure 1 , robot motion control methods include:

[0045] S1. Get the initial joint velocity of the robot at the moment of startup.

[0046] In an optional embodiment, step S1 includes:

[0047] S11. Obtain the minimum parameter set through dynamic modeling analysis method and parameter identification technology.

[0048] S12. Determine the initial joint velocity of the robot at the moment of starting according to the minimum parameter set.

[0049] S2. Generate a period compensation speed signal.

[0050] The periodic compensation speed signal outputs speed signals in positive and negative directions alternately within a period.

[0051] S3. Determine the starting joint speed according to the initial joint speed and the periodic compensation speed signal.

[0052] The absolute value of the initial joint velocity is smaller than the absolute value of the periodic compensation velocity signal.

[0053] S4. Generate a starting friction force corresponding to the initial joint velocity.

[0054] The direction of the starting friction force is the same as the direction of the starting joint velocity.

[0055] In an optional embodiment, step S4 includes:

[0056] S41. Input the initial joint velocity into the friction model to obtain the starting friction.

[0057] Among them, the friction model includes Coulomb friction model and viscous friction model.

[0058] S5. Determine the motion state of the robot according to the external force applied to the robot and the starting friction force.

[0059] This embodiment increases a high-frequency, low-amplitude periodic compensation speed signal at the moment of starting the robot, so that the high frequency alternately outputs starting friction in positive and negative directions, thereby reducing the influence of the friction at the moment of starting on the external force that drags the robot and improving the robot dragging effect.

[0060] In an optional embodiment, step S3 includes:

[0061] The sum of the initial joint velocity and the period-compensated velocity signal is determined as the starting joint velocity.

[0062] The frequency of the period-compensated speed signal is greater than 50 Hz. The period of the period-compensated speed signal is the inverse of the frequency.

[0063] The following formula is used to express the calculation process of the start joint speed:

[0064]

[0065] in, Used to characterize the starting joint speed, Used to characterize the initial joint velocity, and It is used to represent the compensation speed signal output alternately within the cycle, t is used to represent the start time of the robot, n is used to represent the number of control cycles, and T is used to represent the control cycle duration. When t falls within the duration range of nT to (2n+1)T / 2, that is, when t is in the first half of the nth control cycle, the output compensation speed signal is Its speed direction moves in the positive direction; when t falls into the time range of (2n+1)T / 2 to (n+1)T, that is, when t is in the second half of the nth control cycle, the output compensation speed signal is Its speed direction moves in the opposite direction. In this embodiment, since the absolute value of the initial joint speed is smaller than the absolute value of the output compensation speed signal, the direction and change frequency of the starting joint speed are completely determined by the added periodic compensation speed signal, and are no longer affected by the initial joint speed, thereby reducing the interference of uncontrollable factors and effectively compensating the starting friction.

[0066] In an optional embodiment, step S5 includes:

[0067] If the direction of the external force applied to the robot is the same as the direction of the starting friction force, it is determined that the robot moves in the direction of the external force.

[0068] If the direction of the external force applied to the robot is different from the direction of the starting friction force, it is determined that the robot does not move.

[0069] In this embodiment, in order to ensure that the robot can eventually be dragged in the direction of the external force applied to the robot, when the direction of the external force applied to the robot is the same as the direction of the starting friction force, the robot is dragged in the direction of the external force applied to the robot; when the direction of the external force applied to the robot is different from the direction of the starting friction force, the robot is not dragged. If the control cycle is short enough, the robot will not stop moving for a long time, and the robot can be dragged in the direction of the external force applied to the robot in the next control cycle. In theory, the external force applied to the robot does not need to overcome any friction to achieve the dragging of the robot.

[0070] A specific example is introduced below to explain in detail the robot motion control method of this embodiment.

[0071] Among them, the flowchart of dragging the robot by the current control method is as follows Figure 2 shown.

[0072] S100, obtaining parameters such as initial joint speed in actual robot motion according to dynamic modeling and parameter identification.

[0073] Specifically, the dynamic modeling of the robot can use the Newton-Euler Formulation or the Lagrange Formulation to obtain the following formula:

[0074]

[0075] Among them, M(q) is the inertia term, are the Coriolis force and centrifugal force terms, g(q) is the ideal, f is the friction term, q is the joint position, is the joint velocity, is the joint acceleration, and τ is the joint output torque.

[0076] Then, parameter identification is performed, that is, according to the dynamic model, the unknown quantities (also called constant quantities) in the dynamic model are extracted, thereby separating the observation matrix And the identification parameter set π. The following is the corresponding formula between the observation matrix Y and the identification parameter set π:

[0077]

[0078] Where τ is the joint output torque, is the observation matrix, and π is the identification parameter set.

[0079] In the actual robot movement process, and τ can be actually measured by the sensor, so the observation matrix can be calculated Then, the identification parameter set π=(Y T ·Y) -1 ·Y T ·τ.

[0080] S101, according to the actual measurement By identifying the observation matrix Y and the identification parameter set π, the joint output torque τ can be estimated estimate .

[0081] S102: Determine the estimated torque τ related to the friction force in the joint output torque friction .

[0082] S103, determining the estimated torque τ excluding friction in the joint output torque other .

[0083] τ estimate =τ friction +τ other

[0084] S104, under external force F ext , τ friction and τ other Under the joint action of the two, the dragging control of the robot is realized.

[0085] In addition, the flowchart of the friction optimization control method when the robot starts is as follows: Figure 3 shown.

[0086] S300, compensating for estimated torque τ excluding friction other .

[0087] S301, determining the starting friction force τ through the friction force high-frequency switching module start，friction The magnitude and direction of the starting friction force will be at f c and -f c Switching is performed between the upper and lower half periods of the control cycle length T.

[0088] Specifically:

[0089] Initial joint velocity measured at Add high frequency and low amplitude periodic compensation speed signal and Since the initial joint velocity at the moment of starting and Figure 4 Shows the period compensated speed signal and Possible values. Figure 4 The horizontal axis represents the initial joint velocity, Figure 4 The ordinate of represents the estimated torque related to the friction force. Wherein, ε1 is a constant greater than ε.

[0090] The starting joint speed is determined by the following formula:

[0091]

[0092] in, Used to characterize the starting joint speed, Used to characterize the initial joint velocity, and It is used to represent the periodic compensation speed signal, t is used to represent the start time of the robot, n is used to represent the number of control cycles, and T is used to represent the control cycle duration. When t falls within the duration range of nT to (2n+1)T / 2, that is, when t is in the first half of the nth control cycle, the output compensation speed signal is Its speed direction moves in the positive direction; when t falls into the control cycle of the time range (2n+1)T / 2 to (n+1)T, that is, when t is in the second half of the nth control cycle, the output compensation speed signal is Its speed direction is in the opposite direction.

[0093] The starting friction force τ is determined by the following formula start，friction Size and direction:

[0094]

[0095] Among them, τ start，friction Used to characterize the starting friction, f c Used to characterize the magnitude of starting friction. Used to characterize the direction of starting friction, It is used to represent the starting joint speed, t is used to represent the starting time of the robot, n is used to represent the number of control cycles, and T is used to represent the control cycle duration. When t falls within the duration range of nT to (2n+1)T / 2, that is, when t is in the first half of the nth control cycle, the output friction force is f c , the direction of the friction force is positive; when t falls into the time range of (2n+1)T / 2 to (n+1)T, that is, when t is in the second half of the nth control cycle, the output friction force is -f c , the direction of friction is in the opposite direction.

[0096] It can be seen from this that the starting friction force τ start，frictionThe direction of the friction force is not affected by the initial joint velocity ε, and the direction and frequency of change of the starting friction force are completely determined by the periodic compensation velocity signal and This makes up for the defect that the robot does not perform friction compensation at the moment of startup, ensuring that there is always friction compensation at the moment of startup. In addition, in order to make the friction force T compensated at the moment of startup start，friction With external force F ext The effect is the same. The frequency of the periodic compensation speed signal needs to be larger, usually greater than 50 Hz, and the duration of the control period T needs to be smaller, which is the inverse of the frequency of the periodic compensation speed signal.

[0097] S302, if the starting joint speed is greater than zero, the starting friction force is f c .

[0098] S303: Determine whether the external force applied to the robot is greater than zero.

[0099] If it is greater than zero, execute step S304; otherwise, execute step S308.

[0100] S304, control the joints of the robot to move in the positive direction.

[0101] S305, if the starting joint speed is less than zero, the starting friction force is -f c .

[0102] S306: Determine whether the external force applied to the robot is less than zero.

[0103] If it is less than zero, execute step S307; otherwise, execute step S308.

[0104] S307, controlling the joints of the robot to move in the opposite direction.

[0105] S308, control the joints of the robot to not move, and return to step S301.

[0106] Due to the switching f c With -f c If the frequency is high enough (that is, the duration T of the control cycle is small enough), the duration of the robot joint inactivity state is visually very short, and the robot will eventually be dragged in the direction of the applied external force.

[0107] From the above control process, it can be seen that the starting friction force τ start，friction According to the external force F ext The direction of the external force automatically matches the corresponding friction force without telling the controller the direction of the external force applied to the robot through other means, so that the starting friction force and the external force movement intention are consistent.

[0108] It should be noted that, theoretically, the external force Fext The robot can be dragged without overcoming any friction. However, in actual use, in order to increase the robustness and stability of the system, usually only part of the friction is compensated.

[0109] Therefore, the formula for determining the starting friction in practice is as follows:

[0110]

[0111] Where μ is a constant, 0<μ≤1, τ start，friction Used to characterize the starting friction, f c Used to characterize the magnitude of starting friction. Used to characterize the direction of starting friction, It is used to represent the starting joint speed, t is used to represent the starting time of the robot, n is used to represent the number of control cycles, and T is used to represent the control cycle duration. When t falls within the duration range of nT to (2n+1)T / 2, that is, when t is in the first half of the nth control cycle, the output friction force is μ·f c , the friction force direction is positive; when t falls into the time range of (2n+1)T / 2 to (n+1)T, that is, when t is in the second half of the nth control cycle, the output friction force is μ·-f c , the friction force is in the opposite direction. At this time, the external force F ext The remaining friction force needs to be overcome to achieve drag control of the robot. That is, if the starting joint speed is greater than zero, the friction force F ext >(1-μ)·f c The robot can be controlled to move in the positive direction only when the starting joint speed is less than zero. ext <-(1-μ)·f c The robot can be controlled to move in the opposite direction.

[0112] Theoretically, it is generally believed that the robot's initial joint velocity is 0 at the moment of startup. Figure 5 The relationship between the initial joint velocity and the starting friction force obtained by the friction model for the theoretical case. Figure 5 The horizontal axis is used to represent the initial joint velocity. Figure 5 The vertical axis is used to represent the starting friction.

[0113] Example 2

[0114] The present embodiment provides a robot motion control system for implementing the robot motion control method of Embodiment 1. Different from the existing robot motion control methods, the current robot motion control methods usually do not compensate for the friction at the moment of robot startup. Because in the theoretical model, the initial joint speed at the moment of robot startup is zero. However, in practice, the initial joint speed measured by the sensor will be interfered by uncontrollable factors, affecting the starting friction of the robot. The external force applied to the robot needs to overcome the uncompensated friction in order to make the robot move. In this case, if the magnitude of the starting friction force is large and the direction is opposite to the direction of the external force applied to the robot, the intuitive manifestation is that the starting force is too large during the drag control of the robot, and the control effect is not good. Therefore, in order to overcome the problem of excessive starting force of the robot, the robot motion control method of this embodiment adds a periodic compensation speed signal to compensate for the initial joint speed at the moment of robot startup, so that a controllable starting friction can be obtained. See. Figure 6 , the robot motion control system includes:

[0115] The acquisition module 1 is used to obtain the initial joint velocity of the robot at the moment of starting.

[0116] The generating module 2 is used to generate a periodic compensation speed signal.

[0117] The determination module 3 is used to determine the starting joint speed according to the initial joint speed and the periodic compensation speed signal, wherein the frequency of the periodic compensation speed signal is greater than 50 Hz.

[0118] The generating module 2 is also used to generate a starting friction force corresponding to the initial joint velocity.

[0119] The determination module 3 is also used to determine the motion state of the robot according to the external force applied to the robot and the starting friction force.

[0120] The robot motion control system of this embodiment increases a high-frequency, low-amplitude periodic compensation speed signal at the moment of starting the robot, so that the high frequency alternately outputs starting friction in positive and negative directions, thereby reducing the influence of the friction at the moment of starting on the external force that drags the robot and improving the robot dragging effect.

[0121] In an optional implementation, the determination module 3 is further configured to determine the sum of the initial joint velocity and the periodic compensation velocity signal as the starting joint velocity.

[0122] In this embodiment, because the absolute value of the initial joint velocity of the robot motion control system is smaller than the absolute value of the periodic compensation velocity signal, the direction and change frequency of the starting joint velocity are completely determined by the added periodic compensation velocity signal and are no longer affected by the initial joint velocity, thereby reducing the interference of uncontrollable factors and effectively compensating for the starting friction.

[0123] In an optional embodiment, the determination module 3 is also used to determine that the robot moves in the direction of the external force when the direction of the external force applied to the robot is the same as the direction of the starting friction force; and is also used to determine that the robot does not move when the direction of the external force applied to the robot is different from the direction of the starting friction force.

[0124] In this embodiment, in order to ensure that the robot can eventually be dragged in the direction of the external force applied to the robot, the robot motion control system drags the robot in the direction of the external force applied to the robot when the direction of the external force applied to the robot is the same as the direction of the starting friction force; when the direction of the external force applied to the robot is different from the direction of the starting friction force, the robot is not dragged. If the control cycle is short enough, the robot will not stop moving for a long time, and the robot can be dragged in the direction of the external force applied to the robot in the next control cycle. In theory, the external force applied to the robot does not need to overcome any friction to achieve the dragging of the robot.

[0125] In an optional embodiment, the acquisition module 1 is further used to input the initial joint velocity into the friction model to obtain the starting friction force.

[0126] Among them, the friction model includes Coulomb friction model and viscous friction model.

[0127] In an optional embodiment, the acquisition module 1 is further used to obtain a minimum parameter set through a dynamic modeling analysis method and a parameter identification technique; and is also used to determine the initial joint velocity of the robot at the moment of startup based on the minimum parameter set.

[0128] It should be noted that the implementation principles and technical effects of each module of the robot motion control system of this embodiment can refer to the corresponding parts of Example 1, and will not be repeated here.

[0129] Example 3

[0130] This embodiment provides an electronic device, Figure 7 The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the robot motion control method of the first embodiment is implemented. Figure 7 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0131] like Figure 7As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0132] The bus 33 includes a data bus, an address bus, and a control bus.

[0133] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0134] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0135] The processor 31 executes various functional applications and data processing by running the computer programs stored in the memory 32, such as the robot motion control method of embodiment 1 of the present invention.

[0136] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model generating device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. Figure 7 As shown, the network adapter 36 communicates with other modules of the model-generated device 30 via the bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the model-generated device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0137] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0138] Example 4

[0139] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the robot motion control method of embodiment 1 is implemented.

[0140] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0141] In a possible implementation manner, the present invention may also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the robot motion control method of embodiment 1.

[0142] Among them, the program code for executing the present invention can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0143] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A robot motion control method, characterized in that: The robot motion control method comprises: Obtaining the initial joint velocity of the robot at the moment of startup; generating a period-compensated speed signal; Determine a starting joint speed according to the initial joint speed and the periodic compensation speed signal; generating a starting friction force corresponding to the initial joint velocity; The motion state of the robot is determined according to the external force applied to the robot and the starting friction force.

2. The robot motion control method according to claim 1, characterized in that: The step of determining the starting joint speed according to the initial joint speed and the periodic compensation speed signal comprises: The sum of the initial joint velocity and the period-compensated velocity signal is determined as the starting joint velocity.

3. The robot motion control method according to claim 1, characterized in that: The step of determining the motion state of the robot according to the external force applied to the robot and the starting friction force comprises: If the direction of the external force applied to the robot is the same as the direction of the starting friction force, then determining that the robot moves in the direction of the external force; If the direction of the external force applied to the robot is different from the direction of the starting friction force, it is determined that the robot is not moving.

4. The robot motion control method according to claim 1, characterized in that: The step of generating a starting friction force corresponding to the initial joint velocity comprises: The initial joint velocity is input into the friction model to obtain the starting friction.

5. The robot motion control method according to claim 4, characterized in that: The friction force model includes a Coulomb friction force model and a viscous friction force model.

6. The robot motion control method according to claim 1, characterized in that: The frequency of the periodic compensation speed signal is greater than 50 Hz.

7. The robot motion control method according to claim 1, characterized in that: The step of obtaining the initial joint velocity of the robot at the moment of starting includes: Obtain the minimum parameter set through dynamic modeling analysis methods and parameter identification techniques; The initial joint speed of the robot at the moment of starting is determined according to the minimum parameter set.

8. A robot motion control system, characterized in that: The robot motion control system comprises: An acquisition module, used to acquire the initial joint velocity of the robot at the moment of startup; A generating module, used for generating a periodic compensation speed signal; A determination module, used for determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal; The generating module is further used to generate a starting friction force corresponding to the initial joint velocity; The determination module is also used to determine the motion state of the robot according to the external force applied to the robot and the starting friction force.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the robot motion control method according to any one of claims 1 to 7 is implemented.

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

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