Rod piece parameter determination method and device of manipulator, electronic equipment, storage medium and computer program product

Abstract

The embodiment of the invention discloses a method and device for determining rod piece parameters of a manipulator, electronic equipment, a storage medium and a computer program product. The method comprises the steps that object personalized parameters of a target object of a to-be-operated manipulator are obtained, and an operation space for the target object to operate the manipulator is constructed according to the object personalized parameters; mechanical arm parameters of the mechanical arm are obtained, and the working space of the mechanical arm is determined according to the mechanical arm parameters; and according to the operation space and the working space, target rod piece parameters of the manipulator are determined. According to the technical scheme, the operability of the manipulator is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of manipulators, and in particular, to a method, device, electronic device, storage medium, and computer program product for determining the link parameters of a manipulator. Background Art

[0002] A robot generally consists of three parts: a video imaging system, a controlled robotic arm system, and a console. A target object can sit in front of the console and control the controlled robotic arm system by operating the manipulator in the console with their hand, so that the end instrument of the controlled robotic arm system moves synchronously with the hand of the target object.

[0003] However, currently, it is difficult for a manipulator to match different target objects with differences, resulting in poor operability of the manipulator, which urgently needs to be solved. Summary of the Invention

[0004] The embodiments of the present invention provide a method, device, electronic device, storage medium, and computer program product for determining the link parameters of a manipulator, which improves the operability of the manipulator.

[0005] According to one aspect of the present invention, a method for determining the link parameters of a manipulator is provided, which may include: obtaining the object personalization parameters of the target object of the manipulator to be operated, and constructing the operation space for the target object to operate the manipulator according to the object personalization parameters; obtaining the manipulator parameters of the manipulator, and determining the working space of the manipulator according to the manipulator parameters; determining the target link parameters of the manipulator according to the operation space and the working space.

[0006] According to another aspect of the present invention, a device for determining the link parameters of a manipulator is provided, which may include: an operation space construction module for obtaining the object personalization parameters of the target object of the manipulator to be operated and constructing the operation space for the target object to operate the manipulator according to the object personalization parameters; a working space determination module for obtaining the manipulator parameters of the manipulator and determining the working space of the manipulator according to the manipulator parameters; a target link parameter determination module for determining the target link parameters of the manipulator according to the operation space and the working space.

[0007] According to another aspect of the present invention, an electronic device is provided, which may include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to implement the method for determining the link parameters of a manipulator provided in any embodiment of the present invention.

[0008] According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer instructions for causing a processor to implement the method for determining link parameters of a manipulator provided in any embodiment of the present invention when executed.

[0009] According to another aspect of the present invention, there is provided a computer program product including a computer program which implements the method for determining link parameters of a manipulator provided in any embodiment of the present invention when executed by a processor.

[0010] The technical solution of the embodiment of the present invention realizes the determination of the operation space by obtaining the object personalized parameters of the target object of the manipulator to be operated and constructing the operation space of the target object operating the manipulator according to the object personalized parameters, so as to facilitate the subsequent determination of the target link parameters through the operation space; realizes the determination of the working space by obtaining the manipulator parameters of the manipulator and determining the working space of the manipulator according to the manipulator parameters, so as to facilitate the subsequent determination of the target link parameters through the working space; and determines the target link parameters of the manipulator by determining according to the operation space and the working space, thereby realizing the determination of the link parameters of the manipulator. The above technical solution determines the target link parameters of the manipulator through the operation space and the working space, so that the target link parameters can be self-adapted to the operation of the target object on the manipulator, thereby improving the operability of the manipulator.

[0011] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0013] Figure 1 is a flowchart of a method for determining link parameters of a manipulator according to an embodiment of the present invention;

[0014] Figure 2 is a schematic diagram of a manipulator in a method for determining link parameters of a manipulator according to an embodiment of the present invention;

[0015] Figure 3 is a flowchart of another method for determining link parameters of a manipulator according to an embodiment of the present invention;

[0016] Figure 4It is a flowchart of a genetic algorithm iteration in another method for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0017] Figure 5 It is a flowchart of another method for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0018] Figure 6 It is a flowchart of yet another method for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0019] Figure 7 It is a schematic diagram for determining the initial spatial position in yet another method for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0020] Figure 8 It is a flowchart of an optional example in yet another method for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0021] Figure 9 It is a structural block diagram of a device for determining the link parameters of a manipulator provided by an embodiment of the present invention;

[0022] Figure 10 It is a schematic structural diagram of an electronic device for implementing the method for determining the link parameters of a manipulator according to an embodiment of the present invention. Detailed implementation manners

[0023] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. The same is true for "target", "original", etc., which will not be elaborated here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0025] Figure 1 It is a flowchart of a method for determining the link parameters of a manipulator provided in an embodiment of the present invention. This embodiment is applicable to the situation of determining the link parameters of a manipulator. This method can be executed by a device for determining the link parameters of a manipulator provided in an embodiment of the present invention. The device can be implemented in a software and / or hardware manner, and the device can be integrated on an electronic device, which can be various user terminals or servers.

[0026] See Figure 1 , the method of the embodiment of the present invention specifically includes the following steps:

[0027] S110. Obtain the object personalized parameters of the target object of the manipulator to be operated, and construct the operation space for the target object to operate the manipulator according to the object personalized parameters.

[0028] Among them, the manipulator is a manipulator that can be operated by the target object to control other instruments or devices, etc. The target object is the object that needs to operate the manipulator. The object personalized parameters are the personalized parameters of the target object related to operating the manipulator; the object personalized parameters can include, for example, at least one of the object operation mode parameters and the object feature parameters; the object operation mode parameters can include, for example, at least one of the common position angles and sitting postures for the target object to operate the manipulator, etc.; the object feature parameters can include, for example, at least one of the forearm length, arm length, and object length of the target object, etc.; in the embodiment of the present invention, the content of the object personalized parameters is not specifically limited. The operation space is the space required for the target object to operate the manipulator.

[0029] In the embodiments of the present invention, considering the continuous progress of medical technology and the increasing requirements of patients for the quality of surgery, traditional surgical methods have been difficult to meet clinical needs. The emergence of medical surgical robots provides doctors with more precise, safe, and efficient surgical tools, meeting the market demand for high-quality medical services. A medical surgical robot is a complex system integrating multidisciplinary technologies, mainly relying on the latest achievements in fields such as clinical medicine, biomechanics, mechanics, computer science, and microelectronics. It has been widely used in clinical surgeries in multiple departments such as urology, gynecology, general surgery, and thoracic surgery. Medical surgical robots can perform a variety of complex surgical operations, such as prostatectomy, hysterectomy, and radical gastrectomy, providing doctors with more convenient and efficient surgical tools. A medical surgical robot usually consists of a video imaging system, a controlled robotic arm system, and a master doctor console. The specific implementation method is as follows: The surgeon sits in front of the master doctor console and controls the controlled robotic arm system by operating two active manipulators with both hands and stepping on a foot pedal. The end effector of the robotic arm system moves synchronously with the surgeon's hands. At this time, the doctor can view the surgical field presented by the endoscope through a stereoscopic eyepiece and check the position and posture of the end effector of the robotic arm to facilitate the doctor's next operation. This "master-slave control" operation mode enables the doctor to precisely control the surgical process. However, considering the different sitting postures and operating habits of different doctors, the master doctor console usually has multiple ergonomic buttons to adjust console parameters such as screen height and armrest height according to the doctor's own situation. However, the rod parameters of the manipulator cannot be directly adjusted, resulting in a significant difference in the operability of the manipulator for different doctors' operating spaces. To enable the manipulator to perfectly adapt to the doctor's operating space, the rod parameter determination scheme of the manipulator in the embodiments of the present invention can be used for implementation. That is, the target object can be a doctor, and the manipulator can be the manipulator in the master doctor console. It should be noted that applying the solution of the embodiments of the present invention to the determination of the rod parameters of the manipulator in a medical surgical robot is only an example. The technical solutions of the embodiments of the present invention can also be applied to other required technical fields such as industrial production, which are not specifically limited herein.

[0030] Exemplarily, referring to Figure 2 , the manipulator can be composed of seven constituent joints. The seven constituent joints include three position joints, namely joint 1, joint 2, and joint 3, and four attitude joints, namely joint 4, joint 5, joint 6, and joint 7. That is Figure 2 the rod rotation angle in 1 is θ 2 and θ 3 of the three position joints, and the rod rotation angle is θ 4 to θ 7The attitude joints, and the attitude joints cooperate with the position joints to complete the control of the attitude of the end of the controlled robotic arm. The working space of the robotic hand can be achieved by the position joints; usually, the rod parameters of the robotic hand are fixed parameters. In order to better adapt to the operating space of the target object, in the embodiments of the present invention, the rod parameters of the position joints of the robotic hand can be set to be adjustable, that is, Δl 1 、Δl 2 and Δl 3 are the rod lengths corresponding to the position joints, and the rod lengths are adjustable rod parameters. By adjusting these rod parameters, the performance of the robotic hand can meet the operating requirements of the target object. In the embodiments of the present invention, the structure of the robotic hand is not specifically limited, but the following examples can be based on the above examples.

[0031] In the embodiments of the present invention, the method for obtaining the object personalized parameters of the target object of the robotic hand to be operated is not specifically limited.

[0032] In the embodiments of the present invention, for example, according to the object personalized parameters, the involved space that the object may be involved in operating the robotic hand can be determined, and according to this involved space, the operating space for the target object to operate the robotic hand can be constructed. In the embodiments of the present invention, the method for constructing the operating space for the target object to operate the robotic hand according to the object personalized parameters is not specifically limited.

[0033] S120. Obtain the robotic hand parameters of the robotic hand, and determine the working space of the robotic hand according to the robotic hand parameters.

[0034] Among them, the robotic hand parameters are parameters related to the robotic hand; the robotic hand parameters can, for example, include at least one of the rod lengths, rod torsion angles, rod offsets, and rod rotation angles respectively corresponding to the respective constituent joints of the robotic hand, etc. The working space is the space that the robotic hand may be involved in working.

[0035] In the embodiments of the present invention, the method for obtaining the robotic hand parameters of the robotic hand is not specifically limited.

[0036] In the embodiments of the present invention, the activity range of the robotic hand can be determined according to the robotic hand parameters, and the working space can be determined according to the activity range. In the embodiments of the present invention, the method for determining the working space of the robotic hand according to the robotic hand parameters is not specifically limited.

[0037] S130. Determine the target rod parameters of the robotic hand according to the operating space and the working space.

[0038] Among them, the target rod parameters can be the rod parameters corresponding to the position joints in the robotic hand.

[0039] In an embodiment of the present invention, for example, when the working space includes the operating space, the initial link parameters in the manipulator parameters can be used as the target link parameters; when the working space does not include the operating space, the initial link parameters in the manipulator parameters are adjusted, the initial link parameters are updated according to the adjustment result, and the step of determining the working space of the manipulator according to the manipulator parameters is repeatedly executed. In an embodiment of the present invention, the method for determining the target link parameters of the manipulator according to the operating space and the working space is not specifically limited.

[0040] The technical solution of the embodiment of the present invention realizes the determination of the operating space by obtaining the object personalized parameters of the target object of the manipulator to be operated and constructing the operating space for the target object to operate the manipulator according to the object personalized parameters, so as to determine the target link parameters through the operating space subsequently; realizes the determination of the working space by obtaining the manipulator parameters of the manipulator and determining the working space of the manipulator according to the manipulator parameters, so as to determine the target link parameters through the working space subsequently; and realizes the determination of the link parameters of the manipulator by determining the target link parameters of the manipulator according to the operating space and the working space. The above technical solution determines the target link parameters of the manipulator through the operating space and the working space, so that the target link parameters can be self-adapted to the operation of the target object on the manipulator, thereby improving the operability of the manipulator.

[0041] An optional technical solution for determining the working space of the manipulator according to the manipulator parameters includes: determining at least one set of second position determination parameters according to the manipulator parameters; for each set of second position determination parameters in the at least one set of second position determination parameters, determining the end spatial position of the manipulator under the second position determination parameters; and determining the working space of the manipulator according to the end spatial positions corresponding to the at least one set of second position determination parameters respectively.

[0042] Wherein, the second position determination parameter is a parameter for determining the end spatial position. The end spatial position is the spatial position of the end of the manipulator under the second position determination parameter.

[0043] It can be understood that when the manipulator is operated, since the constituent joints of the manipulator may rotate, the parameters of the manipulator parameters are not fixed values, and correspondingly, the end spatial position of the manipulator is also not a fixed value. Considering the above situation, at least one set of second position determination parameters can be determined according to the manipulator parameters, so as to determine each end spatial position that can form the working space according to the at least one set of second position determination parameters.

[0044] In an embodiment of the present invention, the manipulator parameters may include the rod lengths, rod twist angles, rod offset amounts, and rod rotation angles respectively corresponding to the respective constituent joints of the manipulator. When the working space is determined according to the current requirements, the rod lengths may be fixed values, the rod twist angles and the rod offset amounts may be fixed values or non-fixed values. For a constituent joint, the rod rotation angle may be a non-fixed value; at least one set of second position determination parameters including the transformed rod rotation angles respectively corresponding to the respective constituent joints may be determined according to the rod rotation angles respectively corresponding to the respective constituent joints. Among them, the second position determination parameters may include the same rod lengths respectively corresponding to the respective constituent joints, and the same or different rod twist angles and rod offset amounts respectively corresponding to the respective constituent joints. In an embodiment of the present invention, the manner of determining at least one set of second position determination parameters according to the manipulator parameters is not specifically limited.

[0045] In an embodiment of the present invention, the end spatial position of the manipulator in the base coordinate system under the second position determination parameters can be determined. In an embodiment of the present invention, the manner of determining the end spatial position of the manipulator under the second position determination parameters is not specifically limited.

[0046] In an embodiment of the present invention, for example, taking the origin of the base coordinate system as the spatial center, the end spatial positions respectively corresponding to at least one set of second position determination parameters are connected into a piece as the spatial boundary, and the working space of the manipulator is determined according to the spatial center and the spatial boundary. In an embodiment of the present invention, the manner of determining the working space of the manipulator according to the end spatial positions respectively corresponding to at least one set of second position determination parameters is not specifically limited.

[0047] In an embodiment of the present invention, by determining at least one set of second position determination parameters, and then determining the working space of the manipulator according to the end spatial positions respectively corresponding to the determined at least one set of second position determination parameters, the determined working space can better reflect the working range of the manipulator.

[0048] On the basis of the above solution, in another alternative technical solution, the manipulator includes at least one constituent joint; determining the end spatial position of the manipulator under the second position determination parameters includes: determining the joint transformation matrix respectively corresponding to at least one constituent joint according to the second position determination parameters; and determining the end spatial position of the manipulator according to the joint transformation matrix respectively corresponding to at least one constituent joint.

[0049] Among them, the constituent joint is each joint that constitutes the manipulator. The joint transformation matrix is a matrix used to describe the position and attitude of one joint relative to another joint.

[0050] Exemplarily, the parameters determined according to the second position may include the rod lengths a, rod torsion angles α, rod offset amounts d, and transformed rod rotation angles θ corresponding to each constituent joint respectively; for each constituent joint, according to the rod length, rod torsion angle, rod offset amount, and transformed rod rotation angle of the constituent joint, through the formula to determine the joint transformation matrix of the constituent joint where i is the number of the constituent joint, s is the sine function, and c is the cosine function. In the embodiments of the present invention, there is no specific limitation on the method of determining the joint transformation matrix corresponding to at least one constituent joint according to the parameters determined according to the second position.

[0051] Exemplarily, according to the joint transformation matrices corresponding to at least one constituent joint respectively, through the formula to determine the end spatial position of the manipulator, where is a matrix that can represent the position and posture of the end of the manipulator, R is a 3×3 posture matrix, and P is a 3×1 position matrix, and this position matrix can represent the end spatial position of the manipulator. In the embodiments of the present invention, there is no specific limitation on the method of determining the end spatial position of the manipulator according to the joint transformation matrices corresponding to at least one constituent joint respectively.

[0052] In the embodiments of the present invention, by determining the end spatial position of the manipulator according to the determined joint transformation matrices corresponding to at least one constituent joint respectively, the accuracy of the determined end spatial position can be improved.

[0053] Figure 3 is a flowchart of another method for determining the rod parameters of a manipulator provided in the embodiments of the present invention. This embodiment is optimized based on the above technical solutions. In this embodiment, optionally, according to the operating space and the working space, determine the target rod parameters of the manipulator, including: determining the inclusion relationship between the operating space and the working space; according to the inclusion relationship, determine the target rod parameters of the manipulator. The explanations of the same or corresponding terms as those in the above embodiments are not repeated here.

[0054] See Figure 3 , the method of this embodiment may specifically include the following steps:

[0055] S210. Obtain the object personalized parameters of the target object of the manipulator to be operated, and construct the operating space for the target object to operate the manipulator according to the object personalized parameters.

[0056] S220. Obtain the manipulator parameters of the manipulator, and determine the working space of the manipulator according to the manipulator parameters.

[0057] S230. Determine the inclusion relationship between the operating space and the working space.

[0058] Among them, the inclusion situation characterizes whether the operation space is within the working space.

[0059] In the embodiments of the present invention, the operation space and the working space expressed in the base coordinate system can be determined, and then the operation space and the working space can be directly compared to determine the inclusion situation between the operation space and the working space. Specifically, in the case where there is any boundary value of the operation space greater than the boundary value of the working space, it indicates that the working space cannot contain the operation space, and it can be determined that the inclusion situation characterizes that the working space does not contain the operation space, that is, the working space cannot meet the usage requirements of the target object; in the case where the boundary values of the operation space are all smaller than the boundary values of the working space, it is preliminarily proved that the working space may contain the operation space, and it can be determined that the inclusion situation characterizes that the working space contains the operation space. In the embodiments of the present invention, the method for determining the inclusion situation between the operation space and the working space is not specifically limited.

[0060] S240. Determine the target link parameters of the manipulator according to the inclusion situation.

[0061] In the embodiments of the present invention, in the case where the inclusion situation characterizes that the working space contains the operation space, the initial link parameters in the manipulator parameters can be used as the target link parameters; in the case where the inclusion situation characterizes that the working space does not contain the operation space, it indicates that the initial link parameters cannot enable the manipulator to meet the usage requirements of the target object, and iteration of the initial link parameters is performed. By performing iteration of the initial link parameters, the initial link parameters are updated, and the updated initial link parameters are used as the target link parameters. Among them, the iteration algorithm used for iterating the initial link parameters can adopt an improved genetic algorithm. During the iteration of the initial link parameters, when the number of iterations reaches the set value or when the operability meets the preset requirements, the iteration is stopped, and at this time, the final initial link parameters are output. In the embodiments of the present invention, the method for determining the target link parameters of the manipulator according to the inclusion situation is not specifically limited.

[0062] Exemplarily, when it is determined that the workspace including the situation representation includes the operation space, at least one operation space position can be determined according to the operation space and the manipulator parameters. For each operation space position among the at least one operation space positions, inverse kinematics solution of the joint angles respectively corresponding to at least one constituent joint of the manipulator under the initial link parameters is performed according to the operation space position and the manipulator parameters. When the joint angles respectively corresponding to at least one constituent joint can be solved for all the at least one operation space positions, it indicates that the workspace of the manipulator includes the operation space, and the initial link parameters in the manipulator parameters can be used as the target link parameters. When it is determined that the workspace including the situation representation does not include the operation space, it indicates that the initial link parameters cannot enable the manipulator to meet the usage requirements of the target object, and iteration of the initial link parameters is performed. By performing iteration of the initial link parameters, the initial link parameters are updated, and the updated initial link parameters are used as the target link parameters. Among them, using the initial link parameters in the manipulator parameters as the target link parameters may include: for each operation space position among the at least one operation space positions, the manipulability of the manipulator is calculated according to the joint angles respectively corresponding to at least one constituent joint corresponding to the operation space position. When all the obtained manipulabilities meet the preset requirements, the initial link parameters are used as the target link parameters of the manipulator. When there is a manipulability that does not meet the preset requirements among the obtained manipulabilities, a genetic algorithm is used to update the initial link parameters, and the target link parameters of the manipulator are determined according to the initial link parameters.

[0063] The technical solution of the embodiment of the present invention can make the workspace of the manipulator better match the operation space of the target object by determining the target link parameters of the manipulator according to the determined inclusion situation, and further improves the manipulability of the manipulator.

[0064] An alternative technical solution for determining the target link parameters of the manipulator according to the inclusion situation includes: when it is determined that the workspace including the situation representation does not include the operation space, a genetic algorithm is used to determine the target link parameters of the manipulator; wherein, the crossover rate respectively applied in each iteration process of the genetic algorithm is calculated by a crossover rate function so that the crossover rates respectively applied in each iteration process are not exactly the same; and the mutation rate respectively applied in each iteration process of the genetic algorithm is calculated by a mutation rate function so that the mutation rates respectively applied in each iteration process are not exactly the same.

[0065] Among them, the crossover rate function is a function used to calculate the crossover rate applied in each iteration process of the genetic algorithm. The mutation rate function is a function used to calculate the mutation rate applied in each iteration process of the genetic algorithm.

[0066] It can be understood that the essence of the genetic algorithm is to perform selection, crossover, and mutation operations on the population according to the fitness value. Its fundamental purpose is to retain the excellent genes for evolution and eliminate the inferior genes. During the iterative process of the genetic algorithm, the magnitudes of the crossover rate and the mutation rate seriously affect the performance of the genetic algorithm. In the traditional genetic algorithm, the crossover rate p c and the mutation rate p m take constant values. However, for the initial stage of genetic iteration, a larger crossover rate and a smaller mutation rate are helpful for improving the genes of individuals with poor fitness. In the middle stage of genetic iteration, a larger mutation rate is helpful for the algorithm to enhance the local search ability. When the genetic iteration reaches the later stage, for individuals with strong adaptability, a smaller crossover rate and mutation rate are helpful for the retention of individual genes. In the embodiments of the present invention, when the crossover rate is 0.3 ≤ p c ≤ 0.8 and the mutation rate is 0.001 ≤ p m ≤ 0.1, based on the fact that the genetic algorithm has good performance and the above characteristics of the genetic algorithm, the genetic algorithm can be improved by adopting the method that the crossover rate and the mutation rate change with the number of genetic iterations, so as to improve the determination method of the crossover rate and the mutation rate in the genetic algorithm, that is, the crossover rate is calculated through the crossover rate function, and the mutation rate is calculated through the mutation rate function, so that the crossover rates applied in each iterative process are not completely the same, and the mutation rates applied in each iterative process are not completely the same. Specifically, the crossover rate function can be The mutation rate function can be where F mean is the average fitness of the population individuals, is the current number of genetic iterations, j max is the total number of genetic iterations, and to achieve the optimal search ability, p cmax takes 0.8, p cmin takes 0.3, p mmin = 0.001, p mmax = 0.1.

[0067] In the embodiments of the present invention, in the case where the inclusion situation indicates that the working space does not include the operating space, the genetic algorithm is adopted. According to the set number of genetic iterations of the genetic algorithm, the individual genes representing the initial rod parameters are selected, crossed, and mutated, and the individual genes in the population are continuously updated. Based on the initial rod parameters represented by the individual genes, steps such as determining the working space of the manipulator, determining the inclusion situation between the operating space and the working space, and determining the operability of the manipulator under the initial rod parameters are continuously loop-verified until the number of iterations reaches the set value or the operability meets the preset requirements. According to the initial rod parameters finally obtained by the genetic algorithm, the target rod parameters of the manipulator are determined. In the embodiments of the present invention, no specific limitation is imposed on the method of using the genetic algorithm to determine the target rod parameters of the manipulator in the case where the inclusion situation indicates that the working space does not include the operating space.

[0068] In an embodiment of the present invention, during the iterative process of the genetic algorithm, the average value, maximum value, minimum value, median value, etc. of the manipulability corresponding to at least one operating space position under the initial link parameters can be determined as the fitness value.

[0069] Exemplarily, referring to Figure 4 , taking the initial lever parameters as the parameters to be iterated; initializing the population of the genetic algorithm; taking the average value of the manipulability as the fitness value; performing selection, crossover, and mutation operations; calculating the fitness value; determining whether the iteration end condition is satisfied; if the iteration end condition is not satisfied, updating the crossover rate and mutation rate; repeating the steps of performing selection, crossover, and mutation operations; if the iteration end condition is satisfied, obtaining the final required initial link parameters.

[0070] In an embodiment of the present invention, in the case where the situation representation indicates that the workspace does not include the operating space, by using the genetic algorithm to determine the target link parameters of the manipulator, the determined target link parameters can better meet the requirement that the workspace of the manipulator can better match the operating space of the target object, thereby further improving the manipulability of the manipulator.

[0071] Figure 5 FIG. is a flowchart of another method for determining the link parameters of a manipulator provided in an embodiment of the present invention. This embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the manipulator parameters at least include the initial link parameters; according to the inclusion situation, determining the target link parameters of the manipulator includes: in the case where the situation representation indicates that the workspace includes the operating space, determining the manipulability of the manipulator under the initial link parameters according to the operating space and the manipulator parameters; determining the target link parameters of the manipulator according to the manipulability. Among them, the explanations of the same or corresponding terms in the above embodiments are not repeated here.

[0072] Referring to Figure 5 , the method of this embodiment may specifically include the following steps:

[0073] S310. Obtain the object personalized parameters of the target object of the manipulator to be operated, and construct the operating space for the target object to operate the manipulator according to the object personalized parameters.

[0074] S320. Obtain the manipulator parameters of the manipulator, and determine the workspace of the manipulator according to the manipulator parameters, where the manipulator parameters at least include the initial link parameters.

[0075] Among them, the initial link parameters are the link parameters of the initial manipulator; the initial link parameters may include the link lengths corresponding to the respective constituent joints of the manipulator, and the initial link parameters may further include at least one of the link twist angles and link offsets of the manipulator, etc.

[0076] S330. Determine the inclusion relationship between the operating space and the working space.

[0077] S340. When the inclusion relationship indicates that the working space includes the operating space, determine the operability of the manipulator under the initial link parameters according to the operating space and the manipulator parameters.

[0078] Among them, the operability is the degree to which the manipulator can be effectively controlled and operated under the initial link parameters.

[0079] In the embodiment of the present invention, when the inclusion relationship indicates that the working space includes the operating space, inverse kinematic solution can be performed on the operating space. According to the obtained inverse solution, determine the joint angles corresponding to at least one constituent joint respectively. According to the joint angles corresponding to at least one constituent joint respectively, calculate the operability of the manipulator. In the embodiment of the present invention, there is no specific limitation on the method of determining the operability of the manipulator under the initial link parameters according to the operating space and the manipulator parameters when the inclusion relationship indicates that the working space includes the operating space.

[0080] S350. Determine the target link parameters of the manipulator according to the operability.

[0081] In the embodiment of the present invention, when the operability of the manipulator does not meet the preset requirements, it means that this set of initial link parameters does not meet the usage requirements, and iteration of the initial link parameters can be performed. By performing iteration of the initial link parameters, update the initial link parameters, and use the updated initial link parameters as the target link parameters; when the operability of the manipulator meets the preset requirements, it means that this set of initial link parameters meets the usage requirements, and the updated initial link parameters can be directly used as the target link parameters. In the embodiment of the present invention, there is no specific limitation on the method of determining the target link parameters of the manipulator according to the operability.

[0082] The technical solution of the embodiment of the present invention can make the determined target link parameters more accurate by determining the operability of the manipulator under the initial link parameters when the inclusion relationship indicates that the working space includes the operating space, and determining the target link parameters of the manipulator according to the operability, so that the working space of the manipulator can more accurately match the operating space of the target object, and further improve the operability of the manipulator.

[0083] An alternative technical solution is to determine the operability of the manipulator under the initial link parameters according to the operating space and the manipulator parameters, including: determining at least one operating space position according to the operating space; for each of the at least one operating space positions, determining the operability of the manipulator corresponding to the operating space position under the initial link parameters according to the operating space position and the manipulator parameters; determining the target link parameters of the manipulator according to the operability, including: determining the target link parameters of the manipulator according to the determined operabilities.

[0084] Wherein, the operating space position is a position in the operating space, and the operating space position can be specifically understood as a position on the surface of the operating space. In the case where the operating space of the target object is approximately regarded as a space corresponding to a part of a spherical shell with the elbow as the center of the sphere, the operating space position can be understood as a position on the spherical shell corresponding to the operating space; each operating space position can correspond to the meaning of each hand space position used to construct the operating space, that is, at least one hand space position can be used as at least one operating space position.

[0085] In the embodiment of the present invention, for each of the at least one operating space positions, inverse kinematic solution can be performed on the operating space position according to the manipulator parameters to obtain the joint angles corresponding to at least one constituent joint respectively, and the operability of the manipulator corresponding to the operating space position under the initial link parameters can be determined according to the joint angles corresponding to at least one constituent joint respectively. In the embodiment of the present invention, the manner of determining the operability of the manipulator corresponding to the operating space position under the initial link parameters according to the operating space position and the manipulator parameters for each of the at least one operating space positions is not specifically limited.

[0086] Exemplarily, referring to Figure 2 , joint 7 is regarded as the end effector of the manipulator. Since joints 4, 5, and 6 intersect at joint 7, joints 4, 5, 6, and 7 can be regarded as a whole. That is, for each operating space position, only by obtaining the formula for the position of joint 4 in the base coordinate system and inversely obtaining the joint angles corresponding to each constituent joint at the operating space position, the operability of the manipulator under the initial link parameters can be determined. Specifically, the position of joint 4 in the base coordinate system can be represented by the formula wherein, 0 P 4ORG is the position of joint 4 in the base coordinate system, 3 P 4ORG is the position of joint 4 relative to joint 3, 3 P 4ORG can be represented by the last column in the joint transformation matrix corresponding to joint 4, that is, the formula for obtaining the joint transformation matrix is The last column in the joint transformation matrix corresponding to joint 4 is Based on the position of joint 4 in the base coordinate system and the last column in the joint transformation matrix corresponding to joint 4, the equation can be obtained Through the equation for obtaining the joint transformation matrix, and then 0 P 4ORG can be expressed as where Through the equation for obtaining the joint transformation matrix and the expression 0 P 4ORG and then 0 P 4ORG can be expressed as where Since inverse kinematics is solved for the position in the operating space, therefore, the representing the position in the operating space can be used as 0 P 4ORG , and substituted into the above expression 0 P 4ORG to obtain where x, y, and z respectively represent the position of the operating space position in the x-axis direction, y-axis direction, and z-axis direction in the base coordinate system; through it can be determined that the distance r between joint 4 and the origin of the base coordinate system can be expressed as r = x 2 + y 2 + z 2 =(c 1 g 1 - s 1 g 2 ) 2 +(s 1 g 1 + c 1 g 2 ) 2 + g 3 2 , and combined with simplifying the above equation gives Through and further simplification gives where For each position in the operating space, the position in the operating space can be substituted into the above equation to obtain the inverse solutions θ 1 , θ 2 and θ 3 , and at this time, θ 1 , θ 2 and θ 3The rotation angle of the rod for obtaining the operating space positions passed by the three-position joints can be represented by the joint angles respectively corresponding to each position joint, and here θ can be used to represent them. 1 , θ 2 and θ 3 , where parameters such as the rod length a, the rod torsion angle α, and the rod offset d required for the above calculations can adopt the corresponding parameters in the manipulator parameters, and this rod length is the initial rod parameter; it can adopt a method similar to the method for determining the inverse solution θ 1 , θ 2 and θ 3 to determine the joint angles θ and respectively corresponding to each attitude joint; according to θ 4 , θ 5 and θ 6 , that is, the joint angles respectively corresponding to each component joint, the manipulability ω(q) corresponding to the operating space position of the manipulator under the initial rod parameters is determined through the formula 1 , θ 2 , θ 3 , θ 4 , θ 5 and θ 6 , where J is the Jacobian matrix of the manipulator. In the embodiment of the present invention, when the determined manipulabilities all meet the preset requirements, the initial rod parameters can be used as the target rod parameters of the manipulator; when there are manipulabilities that do not meet the preset requirements among the determined manipulabilities, a genetic algorithm can be used to determine the target rod parameters of the manipulator. In the embodiment of the present invention, the method for determining the target rod parameters of the manipulator according to the determined manipulabilities is not specifically limited.

[0087] In the embodiment of the present invention, by determining the target rod parameters of the manipulator according to the manipulabilities respectively corresponding to at least one determined operating space position, the comprehensiveness of the target rod parameters can be improved, thereby further improving the manipulability of the manipulator.

[0088] In the embodiment of the present invention, by determining the target rod parameters of the manipulator according to the manipulabilities respectively corresponding to at least one determined operating space position, the comprehensiveness of the target rod parameters can be improved, thereby further improving the manipulability of the manipulator.

[0089] Another alternative technical solution for determining the target rod parameters of the manipulator according to the manipulability includes: when the manipulability meets the preset requirements, using the initial rod parameters as the target rod parameters of the manipulator.

[0090] In the embodiment of the present invention, when the manipulability meets the preset requirements, it means that the initial rod parameters can enable the manipulator to meet the usage requirements of the target object, and the initial rod parameters can be used as the target rod parameters of the manipulator, thereby improving the manipulability of the manipulator.

[0091] Figure 6 It is a flowchart of another method for determining the link parameters of a manipulator provided in an embodiment of the present invention. This embodiment is optimized based on the above technical solutions. In this embodiment, optionally, according to the object personalized parameters, an operation space for the target object to operate the manipulator is constructed, including: determining at least one set of first position determination parameters according to the object personalized parameters; for each set of first position determination parameters in the at least one set of first position determination parameters, determining the hand space position of the hand of the target object under the first position determination parameters; constructing an operation space for the target object to operate the manipulator according to the hand space positions corresponding to the at least one set of first position determination parameters. Among them, the explanations of the same or corresponding terms as those in the above embodiments will not be repeated here.

[0092] See Figure 6 , the method of this embodiment may specifically include the following steps:

[0093] S410. Obtain the object personalized parameters of the target object of the manipulator to be operated, and determine at least one set of first position determination parameters according to the object personalized parameters.

[0094] Among them, the first position determination parameter is a parameter for determining the hand space position.

[0095] It can be understood that when the target object stands the elbow on the armrest to operate the manipulator, since the wrist of the target object may rotate, the spatial length between the elbow of the target object and the natural pinch point of the thumb and index finger of the hand and the angles between the forearm of the target object and the horizontal plane and the vertical plane are not fixed values. Correspondingly, the hand space position corresponding to the natural pinch point of the thumb and index finger of the hand from the elbow of the target object is also not a fixed value. Therefore, the operation space of the target object can be approximately regarded as the space corresponding to a part of the spherical shell with the elbow as the center of the sphere. Considering the above situation, at least one set of first position determination parameters can be determined according to the object personalized parameters, so as to determine the respective hand space positions that can form a spherical shell centered on the elbow according to the at least one set of first position determination parameters.

[0096] In an embodiment of the present invention, the object personalized parameter may include the common position angle of the target object and the length of the forearm; according to the common position angle and the length of the forearm, at least one set of first position determination parameters including a transformed position angle and a transformed forearm length is determined. The transformed forearm length is the spatial length from the elbow of the target object to the natural pinch point of the thumb and index finger of the hand. The transformed position angle may include at least one of a first angle and a second angle. That is, the first angle is the angle between the forearm of the target object and the horizontal plane, and the second angle is the angle between the forearm of the target object and the vertical plane. For example, at least one transformed forearm length may be determined according to the forearm length, the first parameter quantity of the preset first position determination parameter, and the forearm length interval, and at least one transformed position angle may be determined according to the common position angle, the first parameter quantity of the preset first position determination parameter, and the position angle interval. By arranging and combining at least one transformed forearm length and at least one transformed position angle, at least one set of first position determination parameters is obtained. In an embodiment of the present invention, the manner of determining at least one set of first position determination parameters according to the object personalized parameter is not specifically limited.

[0097] S420. For each set of first position determination parameters in at least one set of first position determination parameters, determine the hand spatial position of the hand of the target object under the first position determination parameter.

[0098] Among them, the hand spatial position is the spatial position of the hand of the target object, and the hand spatial position can also be understood as the spatial position from the elbow of the target object to the natural pinch point of the thumb and index finger of the hand.

[0099] In an embodiment of the present invention, the hand spatial position of the hand of the target object in the base coordinate system under the first position determination parameter can be determined. In an embodiment of the present invention, the manner of determining the hand spatial position of the hand of the target object under the first position determination parameter is not specifically limited.

[0100] S430. According to the hand spatial positions corresponding to at least one set of first position determination parameters respectively, construct the operation space for the target object to operate the manipulator.

[0101] In an embodiment of the present invention, for example, taking the origin of the base coordinate system as the spatial center, connecting the hand spatial positions corresponding to at least one set of first position determination parameters into a piece as the spatial boundary, and determining the operation space according to the spatial center and the spatial boundary. In an embodiment of the present invention, the manner of constructing the operation space for the target object to operate the manipulator according to the hand spatial positions corresponding to at least one set of first position determination parameters respectively is not specifically limited.

[0102] S440. Obtain the manipulator parameters of the manipulator, and determine the working space of the manipulator according to the manipulator parameters.

[0103] S450. Determine the target link parameters of the manipulator according to the operating space and the working space.

[0104] In the embodiment of the present invention, by determining at least one set of first position determination parameters, and then determining the operating space according to the hand space positions corresponding to the at least one set of determined first position determination parameters respectively, it is possible to improve the determined operating space to better reflect the operating range of the target object operating the manipulator.

[0105] An optional technical solution for determining the hand space position of the target object's hand under the first position determination parameters includes: determining the initial space position of the target object's hand in the object coordinate system according to the first position determination parameters; for the coordinate system transformation matrix corresponding to the object coordinate system and the base coordinate system of the manipulator, determining the hand space position of the hand in the base coordinate system under the first position determination parameters according to the initial space position and the coordinate system transformation matrix.

[0106] Wherein, the initial space position is the position of the target object's hand in the object coordinate system determined by the corresponding first position determination parameter. The object coordinate system is a coordinate system with the elbow of the target object as the coordinate origin. The base coordinate system is the coordinate system of the manipulator. The coordinate system transformation matrix is a matrix used for converting between the object coordinate system and the base coordinate system.

[0107] Exemplarily, referring to Figure 7 , the position of the target object's hand in the x-axis direction, y-axis direction, and z-axis direction in the object coordinate system can be determined according to the transformation position angle and the transformed forearm length in the first position determination parameter through the formula . According to the position in the x-axis direction, y-axis direction, and z-axis direction, the initial space position is determined. Wherein, L is the transformed forearm length; θ is the first angle in the transformation position angle; α is the second angle in the transformation position angle. In the embodiment of the present invention, the method for determining the initial space position of the target object's hand in the object coordinate system according to the first position determination parameter is not specifically limited.

[0108] It can be understood that the determined initial space position is in the object coordinate system with the elbow of the target object as the coordinate origin. However, since the subsequent requirement is to determine the target link parameters of the manipulator according to the operating space and the working space, it is necessary to convert the initial space position to the base coordinate system of the manipulator where the working space is located for representation to obtain the hand space position.

[0109] Exemplarily, according to the initial space position User P and the coordinate system transformation matrix through the formula Determine the spatial position of the hand in the base coordinate system at the first position determination parameter Base P. In the embodiments of the present invention, the method for determining the spatial position of the hand in the base coordinate system at the first position determination parameter according to the initial spatial position and the coordinate system transformation matrix is not specifically limited.

[0110] In the embodiments of the present invention, by determining the spatial position of the hand in the base coordinate system at the first position determination parameter according to the initial spatial position and the coordinate system transformation matrix, it is convenient to subsequently determine the target link parameters of the manipulator according to the operation space and the working space in the same coordinate system.

[0111] To better understand the technical solutions of the above embodiments of the present invention, an optional example is provided here. Exemplarily, refer to Figure 8 , obtain the object personalized parameters of the target object of the manipulator to be operated, and construct the operation space for the target object to operate the manipulator according to the object personalized parameters; obtain the manipulator parameters of the manipulator, and determine the working space of the manipulator according to the manipulator parameters; determine whether the operation space is included in the working space, and when the working space includes the operation space, perform inverse kinematics solution on the operation space to determine the operability of the manipulator under the initial link parameters; determine whether the operability meets the preset requirements, and when the operability meets the preset requirements, use the initial link parameters as the target link parameters of the manipulator to obtain the target link parameters; when the operability does not meet the preset requirements, perform iteration of the initial link parameters to update the initial link parameters according to the iteration results, and return to execute the step of determining the working space of the manipulator according to the manipulator parameters; during the iteration process, determine whether the number of iterations reaches the set value, and when it reaches the set value, use the initial link parameters as the target link parameters of the manipulator to obtain the target link parameters; when the working space does not include the operation space, execute the step of performing iteration of the initial link parameters. The above technical solution can achieve adaptive adjustment of the lever parameters, so that the operability of the working space reaches the preset requirements, that is, the working space of the manipulator can better match the operation space of the target object, improve the operability of the manipulator, that is, make the operation of the target object on the manipulator smoother and the experience better.

[0112] Figure 9 It is a structural block diagram of a device for determining the link parameters of a manipulator provided by an embodiment of the present invention. This device is used to execute the method for determining the link parameters of a manipulator provided in any of the above embodiments. This device and the method for determining the link parameters of a manipulator in the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiments of the device for determining the link parameters of a manipulator, reference can be made to the embodiments of the method for determining the link parameters of a manipulator. Refer to Figure 9, the device may specifically include: an operation space construction module 510, a working space determination module 520, and a target rod parameter determination module 530.

[0113] Among them, the operation space construction module 510 is configured to obtain the object personalized parameters of the target object of the manipulator to be operated, and construct the operation space for the manipulator to operate on the target object according to the object personalized parameters; the working space determination module 520 is configured to obtain the manipulator parameters of the manipulator, and determine the working space of the manipulator according to the manipulator parameters; the target rod parameter determination module 530 is configured to determine the target rod parameters of the manipulator according to the operation space and the working space.

[0114] Optionally, the target rod parameter determination module 530 includes: an inclusion situation determination sub-module, configured to determine the inclusion situation between the operation space and the working space; a target rod parameter determination sub-module, configured to determine the target rod parameters of the manipulator according to the inclusion situation.

[0115] Optionally, based on the above device, the manipulator parameters at least include initial rod parameters; the target rod parameter determination sub-module includes: an operability determination unit, configured to determine the operability of the manipulator under the initial rod parameters according to the operation space and the manipulator parameters when the inclusion situation indicates that the working space includes the operation space; a first target rod parameter determination unit, configured to determine the target rod parameters of the manipulator according to the operability.

[0116] Optionally, based on the above device, the operability determination unit includes: an operation space position determination sub-unit, configured to determine at least one operation space position according to the operation space; an operability determination sub-unit, configured to determine the operability corresponding to the operation space position of the manipulator under the initial rod parameters for each operation space position among the at least one operation space position according to the operation space position and the manipulator parameters; the first target rod parameter determination unit includes: a target rod parameter determination sub-unit, configured to determine the target rod parameters of the manipulator according to the determined operabilities.

[0117] Optionally, based on the above device, the first target rod parameter determination unit includes: a target rod parameter as a sub-unit, configured to use the initial rod parameters as the target rod parameters of the manipulator when the operability meets the preset requirements.

[0118] Optionally, based on the above device, the target link parameter determination sub-module includes: a second target link parameter determination unit, configured to, when the situation representation workspace does not include the operation space, use a genetic algorithm to determine the target link parameters of the manipulator; wherein, the crossover rate respectively applied in each iteration of the genetic algorithm is calculated through a crossover rate function, so that the crossover rates respectively applied in each iteration are not exactly the same; and, the mutation rate respectively applied in each iteration of the genetic algorithm is calculated through a mutation rate function, so that the mutation rates respectively applied in each iteration are not exactly the same.

[0119] Optionally, the operation space construction module 510 includes: a first position determination parameter determination sub-module, configured to determine at least one set of first position determination parameters according to the object personalized parameters; a hand space position determination sub-module, configured to, for each set of first position determination parameters in the at least one set of first position determination parameters, determine the hand space position of the hand of the target object under the first position determination parameters; an operation space construction sub-module, configured to construct the operation space for the target object to operate the manipulator according to the hand space positions respectively corresponding to the at least one set of first position determination parameters.

[0120] Optionally, based on the above device, the hand space position determination sub-module includes: an initial space position determination unit, configured to determine the initial space position of the hand of the target object in the object coordinate system according to the first position determination parameters; a hand space position determination unit, configured to, for the coordinate system transformation matrix corresponding to the object coordinate system and the base coordinate system of the manipulator, determine the hand space position of the hand in the base coordinate system under the first position determination parameters according to the initial space position and the coordinate system transformation matrix.

[0121] Optionally, the workspace determination module 520 includes: a second position determination parameter determination sub-module, configured to determine at least one set of second position determination parameters according to the manipulator parameters; a terminal space position determination sub-module, configured to, for each set of second position determination parameters in the at least one set of second position determination parameters, determine the terminal space position of the manipulator under the second position determination parameters; a workspace determination sub-module, configured to determine the workspace of the manipulator according to the terminal space positions respectively corresponding to the at least one set of second position determination parameters.

[0122] Optionally, based on the above device, the manipulator includes at least one constituent joint; the terminal space position determination sub-module includes: a joint transformation matrix determination unit, configured to determine the joint transformation matrix respectively corresponding to the at least one constituent joint according to the second position determination parameters; a terminal space position determination unit, configured to determine the terminal space position of the manipulator according to the joint transformation matrices respectively corresponding to the at least one constituent joint.

[0123] The device for determining the link parameters of a manipulator provided by an embodiment of the present invention obtains the object personalized parameters of the target object of the manipulator to be operated through an operation space construction module, and constructs the operation space for the target object to operate the manipulator according to the object personalized parameters, so as to determine the operation space, which is convenient for subsequently determining the target link parameters through the operation space; through a work space determination module, it obtains the manipulator parameters of the manipulator, and determines the work space of the manipulator according to the manipulator parameters, so as to determine the work space, which is convenient for subsequently determining the target link parameters through the work space; through a target link parameter determination module, it determines the target link parameters of the manipulator according to the operation space and the work space, and realizes the determination of the link parameters of the manipulator. The above device determines the target link parameters of the manipulator through the operation space and the work space, so that the target link parameters can be self-adapted to the operation of the target object on the manipulator, thereby improving the operability of the manipulator.

[0124] The device for determining the link parameters of the manipulator provided by the embodiment of the present invention can execute the method for determining the link parameters of the manipulator provided by any embodiment of the present invention, and has the corresponding function modules and beneficial effects for executing the method.

[0125] It should be noted that in the embodiment of the device for determining the link parameters of the above manipulator, the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0126] Figure 10 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0127] As Figure 10As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or the computer programs loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0128] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0129] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for determining the link parameters of a robotic arm.

[0130] In some embodiments, the method for determining the link parameters of a robotic arm can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the link parameters of the robotic arm described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the link parameters of the robotic arm by any other appropriate means (e.g., by means of firmware).

[0131] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0132] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0133] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0134] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0135] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0136] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship between the client and the server is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0137] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0138] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining the rod parameters of a manipulator, characterized in that: include: Obtaining object personalized parameters of a target object of the manipulator to be operated, and constructing an operation space for the target object to operate the manipulator according to the object personalized parameters; Acquire manipulator parameters of the manipulator, and determine the working space of the manipulator according to the manipulator parameters; According to the operation space and the working space, target rod parameters of the manipulator are determined.

2. The method according to claim 1, characterized in that The step of determining target rod parameters of the manipulator according to the operation space and the workspace includes: Determining the inclusion between the operation space and the workspace; According to the inclusion situation, target rod parameters of the manipulator are determined.

3. The method according to claim 2, characterized in that The manipulator parameters at least include initial rod parameters; Determining the target rod parameter of the manipulator according to the inclusion situation includes: In a case where the inclusion situation represents that the workspace includes the operation space, determining the operability of the manipulator under the initial rod parameters according to the operation space and the manipulator parameters; According to the operability, target rod parameters of the manipulator are determined.

4. The method according to claim 3, characterized in that The step of determining the operability of the manipulator under the initial rod parameters according to the operating space and the manipulator parameters includes: Determining at least one operation space position according to the operation space; For each operation space position of the at least one operation space position, according to the operation space position and the manipulator parameters, determining the operability of the manipulator corresponding to the operation space position under the initial rod parameters; Determining the target rod parameter of the manipulator according to the operability includes: According to the determined operability, the target rod parameter of the manipulator is determined.

5. The method according to claim 3, characterized in that: Determining the target rod parameter of the manipulator according to the operability includes: When the operability meets the preset requirements, the initial rod parameters are used as the target rod parameters of the manipulator.

6. The method according to claim 2, characterized in that Determining the target rod parameter of the manipulator according to the inclusion situation includes: In the case where the inclusion situation indicates that the workspace does not include the operation space, a genetic algorithm is used to determine the target rod parameters of the manipulator; The crossover rate used by the genetic algorithm in each iteration process is calculated by a crossover rate function, so that the crossover rates used in each iteration process are not completely the same; Furthermore, the mutation rate respectively applied by the genetic algorithm in each iteration process is calculated by a mutation rate function, so that the mutation rates respectively applied in each iteration process are not completely the same.

7. The method according to claim 1, characterized in that The step of constructing an operation space for the target object to operate the manipulator according to the object personalized parameters includes: Determining at least one set of first position determination parameters according to the object personalized parameters; For each set of first position determination parameters in the at least one set of first position determination parameters, determining a hand space position of a hand of the target object under the first position determination parameters; According to the hand space positions respectively corresponding to the at least one set of first position determination parameters, an operation space for the target object to operate the manipulator is constructed.

8. The method according to claim 7, characterized in that The determining the hand space position of the hand of the target object under the first position determination parameter includes: Determining an initial spatial position of the hand of the target object in an object coordinate system according to the first position determination parameter; For the coordinate system transformation matrix corresponding to the object coordinate system and the base coordinate system of the manipulator, the hand spatial position of the hand in the base coordinate system under the first position determination parameters is determined according to the initial spatial position and the coordinate system transformation matrix.

9. The method according to claim 1, characterized in that: Determining the working space of the manipulator according to the manipulator parameters includes: determining at least one set of second position determination parameters based on the manipulator parameters; For each set of second position determination parameters in the at least one set of second position determination parameters, determining the end spatial position of the manipulator under the second position determination parameters; The working space of the manipulator is determined according to the end space positions respectively corresponding to the at least one set of second position determination parameters.

10. The method according to claim 9, characterized in that The manipulator comprises at least one constituting joint; The determining of the end spatial position of the manipulator under the second position determination parameter comprises: Determine the joint transformation matrix corresponding to each of the at least one constituent joint according to the second position determination parameter; The spatial position of the end of the manipulator is determined according to the joint transformation matrix corresponding to the at least one constituent joint.

11. A device for determining the parameters of a rod of a manipulator, characterized in that: include: An operation space construction module is used to obtain object personalized parameters of a target object of the manipulator to be operated, and to construct an operation space for the target object to operate the manipulator according to the object personalized parameters; A workspace determination module, used to obtain manipulator parameters of the manipulator and determine the workspace of the manipulator according to the manipulator parameters; The target rod parameter determination module is used to determine the target rod parameters of the manipulator according to the operation space and the workspace.

12. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the method for determining rod parameters of a manipulator according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining rod parameters of a manipulator as described in any one of claims 1 to 10 when executed.

14. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for determining rod parameters of a manipulator according to any one of claims 1 to 10 is implemented.

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