Manipulator control method, device, equipment, medium and program

Abstract

The invention relates to the technical field of data processing, in particular to a manipulator control method and device, equipment, a medium and a program.The method comprises the steps that current positions and target motion paths corresponding to all joints and key nodes of a manipulator are obtained; target coordinate points, corresponding to a plurality of continuous moments, of each joint and the key node in the target movement path are recognized, and corresponding actual coordinate points of the manipulator in the operation process of the target operation path are collected through the multiple direction datum points; calculating an error value and an error change rate of a target coordinate point and an actual coordinate point of each joint and each key node; and proportional control and integral control are conducted on the error value, differential control is conducted on the error change rate, a control signal is generated according to the control result of the error value and the control result of the error change rate, and the pose of the manipulator is controlled according to the control signal until the target action is completed. Therefore, the problem that the user experience feeling is poor due to the fact that mechanical arm control errors are large in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of data processing, and particularly relates to a manipulator control method, device, equipment, medium and program. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, as a key execution device, manipulators have been widely used in many fields such as production lines, logistics warehousing, medical surgery assistance, and home services. The task of a manipulator is to precisely execute a predetermined action sequence, including operations such as grasping, handling, and assembling, which requires it to have high-precision position control capabilities. To achieve this goal, it is necessary to solve the position deviation problems that may occur during the operation of the manipulator and ensure that it can track the predetermined path in real time.

[0003] In related technologies, the manipulator control system mainly relies on an open-loop control method. The input signal is determined according to a preset rule or model, which is simple to operate and low in cost, but lacks a feedback mechanism and cannot correct the errors in actual operation. Therefore, it is difficult to meet the requirements of high-precision tasks, resulting in a poor user experience. Summary of the Invention

[0004] The present application provides a manipulator control method, device, equipment, medium and program to solve problems such as large control errors of the manipulator in related technologies, resulting in a poor user experience.

[0005] The first aspect embodiment of the present application provides a manipulator control method, including the following steps: obtaining the current positions and target motion paths corresponding to each joint and key node of the manipulator; identifying the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and collecting the actual coordinate points corresponding to the manipulator during the operation of the target motion path by using multiple direction reference points; converting the actual coordinate points and the target coordinate points to the same coordinate system, and calculating the error values and error change rates between the target coordinate points and the actual coordinate points of each joint and key node; performing proportional control and integral control on the error values and derivative control on the error change rates to generate a control signal according to the control results of the error values and the control results of the error change rates, and controlling the pose of the manipulator according to the control signal until the target action is completed.

[0006] Optionally, collecting the actual coordinate points corresponding to the manipulator during the operation on the target operation path by using multiple direction reference points includes: identifying the first coordinate points in the image coordinate system corresponding to the manipulator during the operation on the target operation path by using multiple direction reference points; obtaining the internal and external parameters of the multiple direction reference points, and converting the first coordinate points in the image coordinate system into the second coordinate points in the world coordinate system according to the internal and external parameters; and using a Kalman filter to fuse the second coordinate points under the multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation on the target operation path.

[0007] Optionally, using the Kalman filter to fuse the second coordinate points under the multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation on the target operation path includes: obtaining the state variables of the manipulator, where the state variables include the position and speed of the manipulator; inputting the state variables into the observation equation to calculate the corresponding Kalman gain; determining the respective weights of the multiple direction reference points according to the Kalman gain; and weighted-fusing the respective weights of the multiple direction reference points and the second coordinate points under the multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation on the target operation path.

[0008] Optionally, the calculation formula for generating the control signal according to the control result of the error value and the control result of the error change rate is:

[0009]

[0010] where e(t) is the error value between the current position and the target position corresponding to each joint and key node of the manipulator in the target motion path, K p is the proportional gain, K i is the integral gain, K d is the derivative gain.

[0011] Optionally, before obtaining the current position and the target motion path corresponding to each joint and key node of the manipulator, it includes: obtaining the task instruction issued by the user; sorting the priorities of the task instructions to generate a task list; and obtaining the target motion path corresponding to each joint and key node of the manipulator for the task according to the task list.

[0012] Optionally, calculating the error value and the error change rate between the target coordinate points and the actual coordinate points of each joint and key node includes: obtaining the difference in each axis direction of each joint and key node to generate the error value between the target coordinate points and the actual coordinate points; and generating the error change rate between the target coordinate points and the actual coordinate points according to the difference in each axis direction of each joint and key node at the previous moment and the current moment.

[0013] In the second aspect of the embodiments of the present application, a manipulator control device is provided, including: an acquisition module, configured to acquire the current positions and target motion paths corresponding to each joint and key node of the manipulator; an identification module, configured to identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and collect the actual coordinate points corresponding to the manipulator during the operation of the target motion path by using a plurality of direction reference points; a conversion module, configured to convert the actual coordinate points and the target coordinate points to the same coordinate system, and calculate the error value and error change rate between the target coordinate points and the actual coordinate points of each joint and key node; a control module, configured to perform proportional control and integral control on the error value and differential control on the error change rate, so as to generate a control signal according to the control result of the error value and the control result of the error change rate, and control the pose of the manipulator according to the control signal until the target action is completed.

[0014] In the third aspect of the embodiments of the present application, an electronic device is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to perform the manipulator control method as described in the above embodiments.

[0015] In the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to perform the manipulator control method as described in the above embodiments.

[0016] In the fifth aspect of the embodiments of the present application, a computer program product is provided, including a computer program or instruction, characterized in that when the computer program or instruction is executed, the manipulator control method as described in the above embodiments is implemented.

[0017] Therefore, the present application has at least the following beneficial effects:

[0018] In the embodiments of the present application, the target motion path can be selected according to the task priority, and the manipulator at the current position can be controlled to run along the target motion path. Meanwhile, the target coordinate points corresponding to multiple consecutive moments and multiple direction reference points of each joint and key node of the manipulator in the target motion path are identified, and the actual coordinate points corresponding to the manipulator during the operation of the target motion path are collected. The actual coordinate points and the target coordinate points are converted to the same coordinate system, and the error values and error change rates of the target coordinate points and the actual coordinate points of each joint and key node are calculated. Proportional control and integral control are performed on the error values, and differential control is performed on the error change rates, so as to generate a control signal according to the control results of the error values and the control results of the error change rates, and control the pose of the manipulator according to the control signal until the target action is completed. Thus, the pose of the manipulator can be corrected based on the error values fed back at each moment, so as to improve the accuracy of manipulator control, meet the requirements of high-precision tasks, and enhance the user experience.

[0019] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. Brief Description of the Drawings

[0020] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0021] Figure 1 is a flowchart of a manipulator control method according to an embodiment of the present application;

[0022] Figure 2 is a block diagram example of a manipulator control device according to an embodiment of the present application;

[0023] Figure 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Detailed Embodiments

[0024] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, but should not be construed as limiting the present application.

[0025] Open-loop control is a control system design method in which the output of the controller is not affected by the system output, that is, there is no feedback mechanism to adjust or correct the control behavior. In other words, in an open-loop control system, the input signal is determined according to a preset rule or model, and does not depend on the actual system response. This means that once the instruction is issued, the controller will no longer check whether the actual state of the system meets the expectation.

[0026] Therefore, the controller does not use any type of sensor to monitor the state changes of the controlled object. Therefore, it cannot automatically correct errors caused by external disturbances or other factors; for application scenarios that need to cope with rapidly changing environments or uncertainties, open-loop control may perform poorly. Because they cannot adapt to new situations in real time, they are not very suitable for non-linear, time-varying or complex systems and cannot be applied to complex task requirements, resulting in a poor user experience.

[0027] The following describes the data missing value filling method, device, equipment, storage medium and program of the embodiments of the present application with reference to the accompanying drawings.

[0028] Specifically, Figure 1 It is a schematic flowchart of a data missing value filling method provided by an embodiment of the present application.

[0029] As Figure 1 shown, the manipulator control method includes the following steps:

[0030] In step S101, obtain the current positions and target motion paths corresponding to each joint and key node of the manipulator.

[0031] It can be understood that the embodiments of the present application can obtain the current positions and target motion paths corresponding to each joint and key node of the manipulator, so as to facilitate subsequent control of the manipulator to perform corresponding target actions according to the target motion path.

[0032] It should be noted that for the rotary joints of the manipulator, incremental or absolute encoders are used to read the angular positions of each joint; for the linear motion joints of the manipulator, their linear displacements are directly measured. If multiple sensors can provide position information of the same joint (such as redundant sensor configuration), the accuracy can be improved through weighted averaging or other fusion algorithms. For the key nodes of the manipulator, it is necessary to determine the position of the tool center point on the end effector relative to the base coordinate system, so as to accurately determine the current positions corresponding to each joint and key node of the manipulator.

[0033] In the embodiments of the present application, before obtaining the current positions and target motion paths corresponding to each joint and key node of the manipulator, it includes: obtaining the task instructions issued by the user; sorting the priorities of the task instructions to generate a task list; and obtaining the current positions and target motion paths corresponding to each joint and key node of the manipulator according to the task list.

[0034] It can be understood that the embodiments of the present application can obtain the task instructions issued by the user; sort the priorities of the task instructions to generate a task list; and obtain the current positions and target motion paths corresponding to each joint and key node of the manipulator according to the task list, so as to ensure that the manipulator can complete various tasks efficiently and accurately and flexibly respond to various changes.

[0035] It should be noted that the user can input task instructions according to the operation interface of the host computer. For example: move to the target position to perform a grasping action or a placing action, etc. The host computer sets different priority levels based on the importance and urgency of the task, and directly sorts the task list according to the preset priorities. Or, use more complex scheduling algorithms (such as shortest job first, earliest deadline first, etc.) to optimize the task sequence. If a new high-priority task or an unexpected situation occurs, the task list can be re-sorted after the current task is completed.

[0036] Necessary calibration is performed on all sensors and actuators to make them in a normal working state. For known tasks, calculate the optimal path in advance, including the starting point, passing points, and ending point, and adjust the path according to the real-time feedback. Especially when facing a dynamic environment or uncertain factors, ensure that the manipulator can flexibly respond to changes.

[0037] In step S102, identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and collect the actual coordinate points corresponding to the manipulator during the operation of the target motion path by using multiple direction reference points.

[0038] It can be understood that the embodiments of the present application can identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and collect the actual coordinate points corresponding to the manipulator during the operation of the target motion path by using multiple direction reference points, so as to take appropriate measures for deviation correction in the follow-up to ensure that the manipulator can accurately operate according to the predetermined path.

[0039] It should be noted that for each joint and key node, the target coordinate points corresponding to multiple consecutive moments in the target motion path can be determined by the following methods: (1) Time interpolation: If the path is defined by several key frames, the target position at any time point can be calculated by linear or non-linear interpolation methods. (2) Direct reading: If it is a pre-planned high-density path point, the target coordinates at the corresponding time point can be directly extracted from the path list.

[0040] In the embodiments of the present application, actual coordinate points corresponding to the manipulator during its operation on the target operation path are collected by using multiple direction reference points, including: identifying first coordinate points in the image coordinate system corresponding to the manipulator collected by multiple direction reference points during its operation on the target operation path; obtaining the internal and external parameters of the multiple direction reference points, and converting the first coordinate points in the image coordinate system into second coordinate points in the world coordinate system according to the internal and external parameters; using a Kalman filter to fuse the second coordinate points under multiple direction reference points to generate actual coordinate points corresponding to the manipulator during its operation on the target operation path.

[0041] It can be understood that the embodiments of the present application can effectively identify the first coordinate points in the image coordinate system corresponding to the manipulator collected by multiple direction reference points, convert them into second coordinate points in the world coordinate system by using the internal and external parameters, and fuse the data of multiple direction reference points by using a Kalman filter to generate actual coordinate points corresponding to the manipulator on the target operation path. This not only improves the accuracy and robustness of positioning, but also provides a more flexible and efficient control means for the manipulator, ensuring that it can complete tasks efficiently and accurately in various application scenarios.

[0042] It should be noted that by installing visual sensors, laser rangefinders or inertial measurement units at the end effector of the manipulator or other key parts, the data acquisition timestamps are ensured to be consistent, so that the states at the same moment can be accurately corresponded during subsequent processing, and the actual coordinate points from different sensors at the same timestamp are collected and converted into the world coordinate system. When multiple sensors work simultaneously, it is necessary to fuse the coordinate points provided by them, and use a Kalman filter to dynamically adjust the weights of each sensor, considering the state and uncertainty of the system.

[0043] Specifically, the coordinate points in the image coordinate system are converted to the same coordinate system according to the internal and external parameters.

[0044] Among them, the internal parameter matrix mainly describes the internal parameters of the camera, including focal length, optical center and any possible distortion coefficients. Among them, fx and fy are the focal lengths along the x and y directions, and cx and cy are the principal points (i.e., optical centers) of the image plane.

[0045] The external parameter matrix T is used for the attitude and position of the camera coordinate system relative to the world coordinate system, and is composed of a rotation matrix R and a translation vector t.

[0046] Coordinate conversion process:

[0047] (1) Convert the image coordinates to the normalized coordinates in the camera coordinate system:

[0048]

[0049] Among them, u and v are the horizontal and vertical pixel positions of the point on the image respectively.

[0050] (2) For stereo vision or a laser rangefinder, obtain the depth information Z to complete the conversion from the normalized coordinates to the camera coordinate system:

[0051]

[0052] (3) Use the extrinsic parameter matrix to transform the point in the camera coordinate system to the world coordinate system

[0053]

[0054] Once all the coordinate points are in the same coordinate system, the error values and error change rates in each direction can be calculated to fuse the second coordinate points under multiple direction reference points by using the Kalman filter.

[0055] In the embodiment of the present application, fusing the second coordinate points under multiple direction reference points by using the Kalman filter to generate the actual coordinate points corresponding to the manipulator during the operation on the target operation path includes: obtaining the state variables of the manipulator, where the state variables include the position and speed of the manipulator; inputting the state variables into the observation equation to calculate the corresponding Kalman gain; determining the respective weights of multiple direction reference points according to the Kalman gain; and weighted-fusing the respective weights of multiple direction reference points and the second coordinate points under multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation on the target operation path.

[0056] Specifically, define the state variables to include the three-dimensional position [x y z] of the end effector or key node of the manipulator in the world coordinate system and the speed of the end effector or key node of the manipulator Therefore, the state variables can be expressed as

[0057] Input the state variables into the observation equation to calculate the corresponding Kalman gain: where the observation matrix in the observation equation is the matrix that maps the state vector to the observation space, describing which states can be directly observed by the sensor, and the observation matrix is expressed as: Z k = Hx k + V k , where V k is the measurement noise;

[0058] The Kalman gain determines the influence degree of the new measurement value on the state estimation, K k = P k∣k-1 H T (HP k∣k-1 H T + R) -1 , where P k∣k-1is the predicted covariance matrix, representing the uncertainty of the predicted state, and R is the measurement noise covariance matrix, reflecting the reliability of the measurement data.

[0059] The Kalman gains reflect the contribution of each sensor to the state estimation. Therefore, these gains can be used to determine the weights of the reference points in each direction. For example: where K k,i is the Kalman gain corresponding to the i-th sensor. According to the respective weights of multiple reference points in multiple directions and the weighted fusion of the second coordinate points under multiple reference points in multiple directions, the actual coordinate points corresponding to the manipulator during the operation on the target operation path are generated.

[0060] In step S103, the actual coordinate points and the target coordinate points are converted to the same coordinate system, and the error values and error change rates of the target coordinate points and the actual coordinate points of each joint and key node are calculated.

[0061] It can be understood that in the embodiments of the present application, the actual coordinate points and the target coordinate points can be converted to the same coordinate system, and the error values and error change rates of the target coordinate points and the actual coordinate points of each joint and key node are calculated, which can ensure that the manipulator can accurately operate along the predetermined path and continuously adjust its motion according to the real-time feedback, and finally achieve a high-precision operation effect.

[0062] In the embodiments of the present application, calculating the error values and error change rates of the target coordinate points and the actual coordinate points of each joint and key node includes: obtaining the differences in each axis direction of each joint and key node to generate the error values of the target coordinate points and the actual coordinate points; generating the error change rates of the target coordinate points and the actual coordinate points according to the differences in each axis direction of each joint and key node at the previous moment and the current moment.

[0063] It can be understood that in the embodiments of the present application, obtaining the differences in each axis direction of each joint and key node to generate the error values of the target coordinate points and the actual coordinate points; generating the error change rates of the target coordinate points and the actual coordinate points according to the differences in each axis direction of each joint and key node at the previous moment and the current moment can ensure that the manipulator can accurately operate along the predetermined path and continuously adjust its motion according to the real-time feedback, and finally achieve a high-precision operation effect.

[0064] Specifically, assume that we have a 6-degree-of-freedom manipulator, and a vision sensor on its end effector provides the actual coordinate point Pactual(s). At the same time, the target coordinate point Ptarget(tcp) on the target path is known, and these errors are calculated and corrected:

[0065] (1) Convert the actual coordinate points and the target coordinate points to the same coordinate system;

[0066] (2) For each direction, calculate the error value: e x = x target (w) - x actual (w) ; e y = y target (w) - y actua l(w) ; e z = z target (w) - z actual (w) ;

[0067] (3) Calculate the error change rate

[0068] Calculate the change rate of the error over time:

[0069] In step S104, proportional control and integral control are performed on the error value, and derivative control is performed on the error change rate, so as to generate a control signal according to the control result of the error value and the control result of the error change rate, and control the pose of the manipulator according to the control signal until the target action is completed.

[0070] It can be understood that the embodiments of the present application can perform proportional control and integral control on the error value and derivative control on the error change rate, so as to generate a control signal according to the control result of the error value and the control result of the error change rate, and control the pose of the manipulator according to the control signal until the target action is completed, thereby being able to correct the pose of the manipulator based on the error value feedback at each moment, so as to improve the accuracy of manipulator control, meet the requirements of high-precision tasks, and enhance the user experience.

[0071] In the embodiments of the present application, the calculation formula for generating a control signal according to the control result of the error value and the control result of the error change rate is:

[0072]

[0073] where e(t) is the error value between the current position and the target position corresponding to each joint and key node of the manipulator in the target motion path, K p is the proportional gain, K i is the integral gain, and K d is the derivative gain.

[0074] According to the data missing value filling method provided by the embodiments of the present application, the current positions and target motion paths corresponding to each joint and key node of the manipulator are obtained, and the manipulator at the current position is controlled to operate according to the target motion path. At the same time, the target coordinate points corresponding to each joint and key node of the manipulator at multiple consecutive moments in the target motion path and multiple direction reference points are identified to collect the actual coordinate points corresponding to the manipulator during the operation of the target motion path. The actual coordinate points and the target coordinate points are converted to the same coordinate system, and the error values and error change rates between the target coordinate points and the actual coordinate points of each joint and key node are calculated. Proportional control and integral control are performed on the error values, and differential control is performed on the error change rates, so as to generate a control signal according to the control results of the error values and the control results of the error change rates, and control the pose of the manipulator according to the control signal until the target action is completed, thereby enabling the correction of the manipulator pose based on the error values feedback at each moment, improving the accuracy of manipulator control, meeting the requirements of high-precision tasks, and enhancing the user experience.

[0075] Next, a manipulator control device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0076] Figure 2 It is a block diagram of the manipulator control device according to an embodiment of the present application.

[0077] As Figure 2 shown, the manipulator control device 10 includes: an acquisition module 100, an identification module 200, a conversion module 300, and a control module 400.

[0078] Among them, the acquisition module 100 is used to obtain the current positions and target motion paths corresponding to each joint and key node of the manipulator; the identification module 200 is used to identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and use multiple direction reference points to collect the actual coordinate points corresponding to the manipulator during the operation of the target motion path; the conversion module 300 is used to convert the actual coordinate points and the target coordinate points to the same coordinate system, and calculate the error values and error change rates between the target coordinate points and the actual coordinate points of each joint and key node; the control module 400 is used to perform proportional control and integral control on the error values and differential control on the error change rates, so as to generate a control signal according to the control results of the error values and the control results of the error change rates, and control the pose of the manipulator according to the control signal until the target action is completed.

[0079] It should be noted that the above explanations of the embodiments of the manipulator control method also apply to the manipulator control device of this embodiment, and will not be repeated here.

[0080] The robotic arm control device proposed according to the embodiments of the present application acquires the current positions and target motion paths corresponding to each joint and key node of the robotic arm, controls the robotic arm at the current position to operate according to the target motion path, and simultaneously identifies the target coordinate points and multiple direction reference points corresponding to each joint and key node of the robotic arm at multiple consecutive moments in the target motion path, collects the actual coordinate points corresponding to the robotic arm during the operation of the target motion path, converts the actual coordinate points and the target coordinate points to the same coordinate system, and calculates the error values and error change rates between the target coordinate points and the actual coordinate points of each joint and key node; performs proportional control and integral control on the error values and differential control on the error change rates to generate a control signal according to the control results of the error values and the control results of the error change rates, and controls the pose of the robotic arm according to the control signal until the target action is completed, so as to be able to correct the pose of the robotic arm based on the error values fed back at each moment, improve the accuracy of robotic arm control, meet the requirements of high-precision tasks, and enhance the user experience.

[0081] Figure 3 It is a schematic structural diagram of the electronic device provided by the embodiments of the present application. The electronic device may include:

[0082] A memory 301, a processor 302, and a computer program stored on the memory 301 and executable on the processor 302.

[0083] When the processor 302 executes the program, it implements the data missing value filling method provided in the above embodiments.

[0084] Further, the electronic device further includes:

[0085] A communication interface 303 for communication between the memory 301 and the processor 302.

[0086] The memory 301 is used to store a computer program executable on the processor 302.

[0087] The memory 301 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0088] If the memory 301, the processor 302, and the communication interface 303 are implemented independently, the communication interface 303, the memory 301, and the processor 302 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 only a thick line is used to represent it in Figure 3 , but it does not mean that there is only one bus or one type of bus.

[0089] Optionally, in a specific implementation, if the memory 301, the processor 302, and the communication interface 303 are integrated on a single chip, the memory 301, the processor 302, and the communication interface 303 can communicate with each other through an internal interface.

[0090] The processor 302 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0091] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the manipulator control method as described above is implemented.

[0092] The embodiments of the present application also provide a computer program product, including a computer program or instruction, characterized in that when the computer program or instruction is executed, the manipulator control method as described above is implemented.

[0093] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0095] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0096] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by a combination of any one or more of the following techniques well known in the art: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0097] Those of ordinary skill in the technical field of this application can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. A robot control method, characterized in that: The following steps are involved: Get the current position and target motion path corresponding to each joint and key node of the manipulator; Identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and use multiple direction reference points to collect the actual coordinate points corresponding to the manipulator during the operation of the target operation path; The actual coordinate point and the target coordinate point are converted to the same coordinate system, and the error value and error change rate of the target coordinate point and the actual coordinate point of each joint and key node are calculated; The error value is proportionally controlled and integrally controlled, and the error change rate is differentially controlled to generate a control signal according to the control results of the error value and the control results of the error change rate, and the position and posture of the manipulator are controlled according to the control signal until the target action is completed.

2. The robot control method according to claim 1, characterized in that: The method of using multiple direction reference points to collect the actual coordinate points corresponding to the robot during the operation of the target operation path includes: Identify multiple directional reference points to collect the first coordinate point of the image coordinate system corresponding to the robot during the operation of the target operation path; Acquire internal and external parameters of multiple directional reference points, and convert a first coordinate point in the image coordinate system into a second coordinate point in the world coordinate system according to the internal and external parameters; The Kalman filter is used to fuse the second coordinate points under the multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation of the target operation path.

3. The robot control method according to claim 1, characterized in that: The method of using a Kalman filter to fuse the second coordinate points under the multiple direction reference points to generate the actual coordinate points corresponding to the manipulator during the operation of the target operation path includes: Obtaining state variables of the manipulator, wherein the state variables include the position and speed of the manipulator; Input the state variable into the observation equation to calculate the corresponding Kalman gain; Determine respective weights of a plurality of directional reference points according to the Kalman gain; The actual coordinate points corresponding to the manipulator during the operation of the target operation path are generated according to the respective weights of the multiple direction reference points and the weighted fusion of the second coordinate points under the multiple direction reference points.

4. The robot control method according to claim 1, characterized in that: The calculation formula for generating a control signal according to the control result of the error value and the control result of the error change rate is: Where e(t) is the error value between the current position and the target position of each joint and key node of the manipulator in the target motion path, K p is the proportional gain, K i is the integral gain, K d is the differential gain.

5. The robot control method according to claim 1, characterized in that: Before obtaining the current position and target motion path corresponding to each joint and key node of the manipulator, the following steps are included: Get the task instructions issued by the user; Sorting the priorities of the task instructions to generate a task list; According to the task list, the current position and target motion path corresponding to each joint and key node of the manipulator of the task are obtained.

6. The robot control method according to claim 1, characterized in that: The calculating of the error value and error change rate of the target coordinate point and the actual coordinate point of each joint and key node includes: Obtain the difference in each axis direction of each joint and key node to generate the error value between the target coordinate point and the actual coordinate point; The error change rate between the target coordinate point and the actual coordinate point is generated according to the difference in each axis direction of each joint and key node between the previous moment and the current moment.

7. A robot control device, characterized in that: include: An acquisition module is used to obtain the current position and target motion path corresponding to each joint and key node of the manipulator; An identification module is used to identify the target coordinate points corresponding to each joint and key node at multiple consecutive moments in the target motion path, and to collect the actual coordinate points corresponding to the manipulator during the operation of the target operation path using multiple direction reference points; A conversion module, used to convert the actual coordinate point and the target coordinate point to the same coordinate system, and calculate the error value and error change rate between the target coordinate point and the actual coordinate point of each joint and key node; A control module is used to perform proportional control and integral control on the error value and differential control on the error change rate, so as to generate a control signal according to the control results of the error value and the control results of the error change rate, and control the position and posture of the manipulator according to the control signal until the target action is completed.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the manipulator control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, it is used to implement the manipulator control method as described in any one of claims 1-6.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the robot control method as described in any one of claims 1-6 is implemented.

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