Robot motion control method, system, electronic device, and medium

Abstract

The application discloses a robot motion control method and system, electronic equipment and medium, wherein the robot motion control method comprises: acquiring initial joint speed at a starting moment of the robot; generating a periodic compensation speed signal; determining starting joint speed according to the initial joint speed and the periodic compensation speed signal; generating starting friction force corresponding to the initial joint speed; and determining the motion state of the robot according to external force applied to the robot and the starting friction force. The application increases the high-frequency low-amplitude periodic compensation speed signal at the starting moment of the robot, makes the high-frequency alternating output of the starting friction force in two directions of positive and negative, thereby reducing the influence of the friction force at the starting moment on the external force of the dragging robot, and improving the dragging effect of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot motion control method, system, electronic device, and medium. Background Technology

[0002] The robot motion control methods currently in widespread use require establishing and identifying the dynamic model of the robot system, and then calculating the output signal (motor current) for controlling the drag robot based on the dynamic model. The control method is relatively complex, but it does not require any external sensors.

[0003] Because friction and velocity are closely related in robot dynamic models, especially during startup, accurately determining the joint's movement direction at the moment of startup to output the correct friction compensation force directly affects the effectiveness of drag control. However, in practice, the direction of the motor is usually not specifically determined at the moment of startup; it's assumed there's no friction at startup, and therefore no friction compensation is performed. Instead, the friction is compensated by outputting the corresponding current based on the velocity direction after the joint has actually moved. This results in excessive startup force in 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 device and medium.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

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

[0007] Obtain the initial joint velocities of the robot at the moment of startup;

[0008] Generate a periodic compensation speed signal;

[0009] The starting joint speed is determined based on the initial joint speed and the periodic compensation speed signal.

[0010] Generate a starting frictional force corresponding to the initial joint velocity;

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

[0012] Preferably, the step of determining the starting joint speed based on the initial joint speed and the periodic compensation speed signal includes:

[0013] The sum of the initial joint velocity and the periodic compensation velocity signal is determined as the starting joint velocity.

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

[0015] If the direction of the external force applied to the robot is the same as the direction of the initiating friction force, then the robot is determined to move in the direction of the external force.

[0016] If the direction of the external force applied to the robot is not the same as the direction of the initiating friction force, then the robot is determined not to move.

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

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

[0019] Preferably, the friction model includes a Coulomb friction model and a viscous friction 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 at the moment of robot startup includes:

[0022] The minimum parameter set is obtained through dynamic modeling and analysis methods and parameter identification techniques.

[0023] The initial joint velocity of the robot at the moment of startup is determined based on the minimum parameter set.

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

[0025] The acquisition module is used to acquire the initial joint velocities of the robot at the moment of startup;

[0026] The generation module is used to generate the periodic compensation speed signal;

[0027] The determining module is used to determine the starting joint speed based on the initial joint speed and the periodic compensation speed signal;

[0028] The generation module is also used to generate the starting friction force corresponding to the initial joint velocity;

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

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor executes the computer program to implement the above-described robot motion control method.

[0031] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described robot motion control method.

[0032] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0033] The positive and progressive effects of this invention are as follows:

[0034] This invention reduces the impact of friction on the external force dragging the robot at the moment of robot startup by adding a high-frequency, low-amplitude periodic compensation speed signal, which causes high-frequency alternating output of starting friction in both positive and negative directions, thereby improving the robot's dragging effect. Attached Figure Description

[0035] Figure 1 This is a flowchart of the robot motion control method according to Embodiment 1 of the present invention;

[0036] Figure 2 A flowchart illustrating the robot motion control method of Embodiment 1 of the present invention, showing a process of dragging a robot using a current control method;

[0037] Figure 3 A flowchart illustrating the friction optimization control method at the instant the robot starts, as a specific example of the robot motion control method in Embodiment 1 of the present invention;

[0038] Figure 4 A diagram showing possible values ​​of the periodic compensation velocity signal, which is a specific example of the robot motion control method in Embodiment 1 of the present invention.

[0039] Figure 5 This is a schematic diagram of the friction force model under ideal conditions for the robot motion control method of Embodiment 1 of the present invention;

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

[0041] Figure 7 This is a schematic diagram of the electronic device according to Embodiment 3 of the present invention. Detailed Implementation

[0042] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0043] Example 1

[0044] This invention provides a robot motion control method that differs from existing robot motion control methods. Current robot motion control methods typically do not compensate for the frictional force at the moment of robot startup because, in the theoretical model, the initial joint velocity at startup is zero. However, in practice, the initial joint velocity measured by sensors can be affected by uncontrollable factors, influencing the robot's startup frictional force. The external force applied to the robot needs to overcome this uncompensated frictional force to enable robot movement. In this case, if the startup frictional force is large and its direction is opposite to the direction of the external force applied to the robot, the direct result is excessive startup force during robot drag control, leading to poor control performance. Therefore, to overcome the problem of excessive startup force, the robot motion control method in this embodiment incorporates a periodic compensation velocity signal to compensate for the initial joint velocity at the moment of robot startup, thereby obtaining a controllable startup frictional force. See also Figure 1 Robot motion control methods include:

[0045] S1. Obtain the initial joint velocities at the moment the robot starts.

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

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

[0048] S12. Determine the initial joint velocity of the robot at the moment of startup based on the minimum parameter set.

[0049] S2, Generate a periodic compensation speed signal.

[0050] Among them, the periodic compensation speed signal alternately outputs speed signals in both positive and negative directions within the period.

[0051] S3. Determine the starting joint speed based on the initial joint speed and the periodic compensation speed signal.

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

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

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

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

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

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

[0058] S5. Determine the robot's motion state based on the external force applied to the robot and the starting friction force.

[0059] This embodiment adds a high-frequency, low-amplitude periodic compensation speed signal at the moment of robot startup, so that the high-frequency alternating output of startup friction in both positive and negative directions reduces the influence of the friction on the external force dragging the robot at the moment of startup, thereby improving the robot dragging effect.

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

[0061] The sum of the initial joint velocity and the periodic compensation velocity signal is determined as the starting joint velocity.

[0062] The frequency of the periodically compensated speed signal is greater than 50 Hz. The period of the periodically compensated speed signal is the reciprocal of its frequency.

[0063] The following formula illustrates the calculation process for the starting joint velocity:

[0064]

[0065] in, Used to characterize the initiation speed of the joint. Used to characterize initial joint velocity and The compensated speed signal is used to characterize the alternating output within a cycle. `t` represents the robot's start-up time, `n` represents the number of control cycles, and `T` represents the duration of each control cycle. When `t` falls within the duration range of `nT` to `(2n+1)T / 2`, i.e., when `t` is in the first half of the `n`th control cycle, the output compensated speed signal is: Its velocity direction is positive; when t falls within 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 velocity signal is In this embodiment, since the absolute value of the initial joint speed is less than the absolute value of the output compensation speed signal, the direction and frequency of change 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. This reduces the interference of uncontrollable factors and thus effectively compensates for the starting friction.

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

[0067] If the direction of the external force applied to the robot is the same as the direction of the initiating friction force, then the robot is determined to move in the direction of the external force.

[0068] If the direction of the external force applied to the robot is not the same as the direction of the initiating friction force, then the robot will not move.

[0069] In this embodiment, to ensure that the robot can ultimately be dragged in the direction of the applied external force, when the direction of the applied external force is the same as the direction of the initiating friction force, the robot is dragged in the direction of the applied external force; when the direction of the applied external force is different from the direction of the initiating friction force, the robot is not dragged. If the control cycle is short enough, the robot's stopped state will not last long, and in the next control cycle, the robot can be dragged in the direction of the applied external force. Theoretically, the applied external force does not need to overcome any friction to achieve dragging of the robot.

[0070] The following is a specific example to illustrate the robot motion control method of this embodiment in detail.

[0071] The flowchart for driving the robot using a current control method is as follows: Figure 2 As shown.

[0072] S100: Based on dynamic modeling and parameter identification, parameters such as the initial joint velocity in actual robot motion are obtained.

[0073] Specifically, the dynamic modeling of a robot can be obtained using either the Newton-Euler Formulation or the Lagrange Formulation, resulting in the following formula:

[0074]

[0075] Where M(q) is the inertia term, Let g(q) represent the Coriolis force and centrifugal force terms, g(q) be the mean ideal force, f be the frictional force term, and q be the joint position. For joint velocity, Let τ be the joint acceleration and τ be the joint output torque.

[0076] Then, parameter identification is performed, that is, based on the dynamic model, the unknowns (also called constants) in the dynamic model are extracted, thereby separating the observation matrix. And the identification parameter set π. Below is the formula for the correspondence between the observation matrix Y and the identification parameter set π:

[0077]

[0078] Where τ is the joint output torque. Let π be the observation matrix and π be the set of identification parameters.

[0079] During actual robot movement... τ can be obtained from actual measurements by the sensor, thus allowing the calculation of the observation matrix. The identification parameter set π = (Y) can then be calculated using the least squares method. T ·Y) -1 ·Y T ·τ.

[0080] S101, based on actual measurements 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 friction in the joint output torque. friction .

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

[0083] τ estimate =τ friction +τ other

[0084] S104, under external force F ext τ friction and τ other Through the combined action of these factors, the robot's drag control is achieved.

[0085] Additionally, the flowchart of the friction optimization control method for the robot at the moment of startup is as follows: Figure 3 As shown.

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

[0087] S301, Determine the starting friction force τ through the high-frequency friction force switching module. start，friction The magnitude and direction of friction. The initiation friction will occur at f c and -f c The switching occurs between the first and second halves of the control cycle duration T.

[0088] Specifically:

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

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

[0091]

[0092] in, Used to characterize the initiation speed of the joint. Used to characterize initial joint velocity and The output compensation speed signal is used to characterize the cycle compensation speed signal. `t` represents the robot's start-up time, `n` represents the number of control cycles, and `T` represents the duration of each control cycle. 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 `n`th control cycle, the output compensation speed signal is: Its velocity direction is positive; when t falls within the control cycle 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 compensated velocity signal is... Its velocity direction is in the opposite direction.

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

[0094]

[0095] Where, τ start，friction Used to characterize the initiating friction force, f c Used to characterize the magnitude of the initiating friction force. Used to characterize the direction of the initiating frictional force. The 't' parameter represents the joint velocity at startup, 'n' represents the robot's startup moment, and 'T' represents the number of control cycles and the duration of each control cycle. When 't' falls within the range of nT to (2n+1)T / 2, i.e., when 't' is in the first half of the nth control cycle, the output frictional force is f. c The direction of its frictional force is positive; when t falls within 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 frictional force is -f. c The direction of its frictional force is in the opposite direction.

[0096] This shows that the starting friction τ occurs at the instant of startup. start，frictionThe direction is not affected by the initial joint velocity ε; the direction and frequency of change of the initiating friction force are entirely determined by the periodically compensated velocity signal. and This decision compensates for the lack of friction compensation at the moment of robot startup, ensuring that friction compensation is always present at startup. Furthermore, to ensure the friction T compensated at startup... start，friction With external force F ext The effects are the same. The frequency of the periodic compensation speed signal needs to be relatively large, usually greater than 50 Hz, and the duration of the control period T needs to be relatively small, which is the reciprocal of the frequency of the periodic compensation speed signal.

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

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

[0099] If the value is greater than zero, proceed to step S304; otherwise, proceed to step S308.

[0100] S304. Control the robot's joints 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 the value is less than zero, proceed to step S307; otherwise, proceed to step S308.

[0104] S307. Control the robot's joints to move in the opposite direction.

[0105] S308. Control the robot's joints to stop moving and return to step S301.

[0106] Due to switching f c with -f c If the frequency is high enough (i.e., the duration of the control cycle T is short enough), the duration of the robot's joints not moving visually is very short, and eventually the robot will 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 It will depend on the external force F ext The direction of the friction force is automatically matched to the corresponding friction force, without having to tell 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 Dragging the robot can be achieved without overcoming any friction. However, in practical applications, to increase the robustness and stability of the system, only a portion of the friction is usually compensated for.

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

[0110]

[0111] Where μ is a constant, 0 < μ ≤ 1, τ start，friction Used to characterize the initiating friction force, f c Used to characterize the magnitude of the initiating friction force. Used to characterize the direction of the initiating frictional force. The joint velocity is used to characterize the start-up speed, t represents the robot's start-up moment, n represents the number of control cycles, and T represents the duration of the control cycle. 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 frictional force is μ·f. c The direction of its frictional force is positive; when t falls within 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 frictional force is μ·-f c The direction of its frictional force is in the opposite direction. At this time, the external force F ext To achieve drag control of the robot, the remaining frictional force needs to be overcome; that is, if the starting joint speed is greater than zero, then the frictional force F is activated. ext >(1-μ)·f c Only when the joint velocity is less than zero can the robot be controlled to move in the positive direction; otherwise, F... ext <-(1-μ)·f c Only then can the robot be controlled to move in the opposite direction.

[0112] Theoretically, it is generally assumed that at the instant a robot starts, its initial joint velocities are zero. See also Figure 5 The relationship between the initial joint velocity and the starting friction force is obtained through a friction force model under theoretical conditions. Figure 5 The x-axis is used to characterize the initial joint velocity. Figure 5 The vertical axis is used to characterize the starting friction force.

[0113] Example 2

[0114] This embodiment provides a robot motion control system for implementing the robot motion control method of Embodiment 1. Unlike existing robot motion control methods, current methods typically do not compensate for the frictional force at the moment of robot startup. This is because, in the theoretical model, the initial joint velocity at startup is zero. However, in practice, the initial joint velocity measured by sensors can be affected by uncontrollable factors, influencing the robot's startup frictional force. The external force applied to the robot needs to overcome this uncompensated frictional force to enable robot movement. In this case, if the startup frictional force is large and its direction is opposite to the direction of the external force applied to the robot, the direct result is excessive startup force during robot dragging control, leading to poor control performance. Therefore, to overcome the problem of excessive startup force, the robot motion control method of this embodiment incorporates a periodic compensation velocity signal to compensate for the initial joint velocity at the moment of robot startup, thereby obtaining a controllable startup frictional force. See also... Figure 6 The robot motion control system includes:

[0115] Acquisition module 1 is used to acquire the initial joint velocities at the moment the robot starts.

[0116] Generation module 2 is used to generate periodically compensated speed signals.

[0117] Module 3 is used to determine the starting joint speed based on the initial joint speed and the periodic compensation speed signal. The frequency of the periodic compensation speed signal is greater than 50 Hz.

[0118] The generation module 2 is also used to generate the 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 based on the external force applied to the robot and the starting friction force.

[0120] The robot motion control system in this embodiment adds a high-frequency, low-amplitude periodic compensation speed signal at the moment of robot startup, so as to output high-frequency alternating starting friction forces in both positive and negative directions, thereby reducing the influence of the friction force at the moment of startup on the external force dragging the robot and improving the robot dragging effect.

[0121] In an optional implementation, the determining 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 is less than the absolute value of the periodic compensation velocity signal, the direction and frequency of change of the starting joint velocity in the robot motion control system are completely determined by the added periodic compensation velocity signal, and are no longer affected by the initial joint velocity. This reduces the interference of uncontrollable factors and thus effectively compensates for the starting friction force.

[0123] In an optional implementation, the determining module 3 is further configured 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 initiating friction force; and to determine that the robot does not move when the direction of the external force applied to the robot is not the same as the direction of the initiating friction force.

[0124] In this embodiment, the robot motion control system ensures that the robot can ultimately be dragged in the direction of the applied external force. When the direction of the applied external force is the same as the direction of the initiating friction force, the robot is dragged in that direction. When the direction of the applied external force is different from the initiating friction force, the robot is not dragged. If the control cycle is short enough, the robot's stopped state will not last long, and in the next control cycle, the robot can be dragged in the direction of the applied external force. Theoretically, the applied external force does not need to overcome any friction to achieve dragging of the robot.

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

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

[0127] In an optional implementation, the acquisition module 1 is further configured to acquire a minimum parameter set through dynamic modeling analysis methods and parameter identification techniques; and to determine the initial joint velocity at the moment of robot 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 in this embodiment can be referred to the corresponding parts of Embodiment 1, and will not be repeated here.

[0129] Example 3

[0130] This embodiment provides an electronic device. Figure 7 This is a schematic diagram of the electronic device. 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, it implements the robot motion control method of Embodiment 1. Figure 7 The electronic device 30 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0131] like Figure 7As shown, the electronic device 30 can be manifested as a general-purpose computing device, such as 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 memory 32 and processor 31).

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

[0133] The memory 32 may include volatile memory, such as random access memory (RAM) 321 and / or cache memory 322, and may further include 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, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

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

[0136] Electronic device 30 can also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 35. Furthermore, the model-generating device 30 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 36. Figure 7 As shown, network adapter 36 communicates with other modules of the model-generated device 30 via 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.

[0137] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments 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 and embodied by multiple units / modules.

[0138] Example 4

[0139] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the robot motion control method of Embodiment 1.

[0140] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0141] In a possible implementation, the present invention can also be implemented as a program product comprising program code, which, when the program product is run on a terminal device, causes the terminal device to execute the robot motion control method of Embodiment 1.

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

[0143] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A robot motion control method, characterized in that, The robot motion control method includes: Obtain the initial joint velocities of the robot at the moment of startup; Generate a periodic compensation speed signal; The initial joint velocity is input into the friction model to obtain the starting friction force; The starting joint speed is determined based on the initial joint speed and the periodic compensation speed signal to compensate for the starting friction force; The motion state of the robot is determined based on the external force applied to the robot and the starting friction force.

2. The robot motion control method as described in claim 1, characterized in that, The step of determining the starting joint speed based on the initial joint speed and the periodic compensation speed signal includes: The sum of the initial joint velocity and the periodic compensation velocity signal is determined as the starting joint velocity.

3. The robot motion control method as described in claim 1, characterized in that, The step of determining the motion state of the robot based on the external force applied to the robot and the initiation friction force includes: If the direction of the external force applied to the robot is the same as the direction of the initiating friction force, then the robot is determined to move in the direction of the external force. If the direction of the external force applied to the robot is not the same as the direction of the initiating friction force, then the robot is determined not to move.

4. The robot motion control method as described in claim 1, characterized in that, The friction model includes the Coulomb friction model and the viscous friction model.

5. The robot motion control method as described in claim 1, characterized in that, The frequency of the periodic compensation speed signal is greater than 50 Hz.

6. The robot motion control method as described in claim 1, characterized in that, The steps for obtaining the initial joint velocities at the moment of robot startup include: The minimum parameter set is obtained through dynamic modeling and analysis methods and parameter identification techniques. The initial joint velocity of the robot at the moment of startup is determined based on the minimum parameter set.

7. A robot motion control system, characterized in that, The robot motion control system includes: The acquisition module is used to acquire the initial joint velocities of the robot at the moment of startup; The generation module is used to generate periodically compensated speed signals. The acquisition module is also used to input the initial joint velocity into the friction force model to obtain the starting friction force; The determining module is used to determine the starting joint speed based on the initial joint speed and the periodic compensation speed signal, so as to compensate for the starting friction force; The determining module is also used to determine the motion state of the robot based on the external force applied to the robot and the starting friction force.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor, characterized in that, When the processor executes the computer program, it implements the robot motion control method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the robot motion control method according to any one of claims 1-6.

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