Cooperative control method and system of humanoid robot four-limb joint drivers

Abstract

The invention provides a cooperative control method and system for four-limb joint drivers of a humanoid robot, and belongs to the technical field of driver control. The method comprises the following steps: acquiring an equipment state, and generating a cooperative control action according to the equipment state; generating a plurality of cooperative control output signals according to the cooperative control action; determining the output quantity of each driver under the cooperative control action according to a preset rule by taking the cooperative control output signals as respective corresponding standard quantities to obtain a standard output quantity; and generating a standard output signal according to the standard output quantity, and controlling the output state of the corresponding driver. According to the method, the equipment state is obtained through the sub-state flag bit, the standard output quantity of the driver is verified, it is ensured that the output quantity is located in the preset working range, and verification is conducted in the modes of sum value and nominal torque ratio judgment, proportion minimum value judgment and the like. The invention further provides a driver cooperative control system. Cooperative control of a plurality of drivers is realized, and stability and reliability of system operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of driver control, and in particular to a collaborative control method and system for humanoid robot limb joint drivers. Background Art

[0002] With the rapid development of industrial automation and robotics, research on control methods for actuators, as core components of actuators, is gaining increasing attention. In robotic systems, multi-actuator collaborative control is a key technology for achieving complex motions and improving system performance. Currently, robots mostly use actuators to drive their joints, while traditional control methods primarily rely on centralized control.

[0003] In the prior art, multi-driver cooperative control systems are usually controlled by closed-loop coupling. For example, CN104753406A discloses a multi-driver cooperative control method that uses a speed compensator to compensate the speed signal of each driver. The given speed is input to the fuzzy controller, and after being processed by the fuzzy processor, the controller outputs the actual speed to achieve coordinated speed operation among multiple drivers [1]. This method improves the stability of the system and can better overcome problems such as time-varying parameters and nonlinearity in complex systems.

[0004] WO2021184581A1 discloses a fuzzy master-slave feedback coordinated multi-driver closed-loop coupling coordinated control system and method. The system uses controllers to form a closed-loop coupling system with multiple drivers connected end to end. Each controller includes a master-slave controller, a fuzzy controller, and a feedback controller. The closed-loop coupling arrangement of multiple drivers alleviates the problem of poor synchronization in the coordinated control of multiple drivers in the existing technology [2].

[0005] In addition, CN117937991A proposed a multi-input multi-output control system. The system designs initial constraints based on the number of drives that need to be driven and controlled in the industrial machine transmission system, the corresponding resource data required, and the occupancy of the multi-input multi-output interface. Based on the constraints, vector control of a single drive and parallel control of multiple drives are performed [3]. This method calculates the deviation data existing in the operation process of each drive through a multi-drive coordinated control algorithm, thereby achieving synchronous control of multiple drives.

[0006] CN115296562B discloses a multi-driver sliding mode cooperative control method and system based on disturbance compensation. The system includes a signal input module, a multi-driver cooperative module, and a multi-driver control module. By coupling the actual speeds of each controlled driver and outputting the corresponding compensation signals of each controlled driver, the controlled driver is synchronized with other drivers[4]. This method is based on sliding mode control theory and multi-driver deviation coupling control structure, and can effectively suppress the chattering phenomenon inherent in sliding mode control.

[0007] CN114826032A proposes a synchronous control method for wheel hub drives of electric vehicles in straight-line driving. This method uses a speed compensator to compensate the speed signals of each drive, and outputs the actual speed after processing through a fuzzy controller, so that the speeds of the drives in the multi-drive synchronous system can operate in coordination [5]. This method improves the stability of the drive system and can better overcome the problems of time-varying parameters and nonlinearity in complex systems.

[0008] However, the existing multi-driver collaborative control methods have some obvious shortcomings. First, most existing robots adopt a centralized control method, which results in a huge workload for the robot's central processing unit. It not only takes up a lot of computing resources, but also increases energy consumption and generates a lot of heat, which in turn affects the performance of other aspects of the robot. Secondly, when processing complex actions, the existing multi-driver collaborative control methods often require complex algorithms and control strategies, which increases the complexity and instability of the system. In addition, the acquisition and processing methods of the driver status in the existing technology are relatively simple, lacking a comprehensive consideration of the device status, making it difficult to achieve precise collaborative control. Finally, the existing technology lacks an effective verification mechanism, and cannot ensure that the output of all drivers is within the safe working range, posing a potential safety hazard.

[0009] Therefore, we need to design a collaborative control method and system for the humanoid robot's limb joint actuators to solve these problems. Summary of the Invention

[0010] The problem to be solved by the present invention is to provide a driver cooperative control method that can effectively reduce the burden of the central processing unit, improve system stability, achieve precise cooperative control and has a safety verification mechanism.

[0011] In order to solve the technical problem that most existing robots use drivers to drive joints and the control of the robots is centralized, which results in a huge workload for the robot's central processing unit, not only occupying resources but also increasing energy consumption, generating a large amount of heat, and thus affecting the performance of other aspects of the robot, and to achieve the technical effect of enhancing the control effect, the present invention provides a collaborative control method and system for the drivers of the limb joints of a humanoid robot. The technical solution adopted by the present invention is: A collaborative control method for the actuators of the limb joints of a humanoid robot is provided, which is characterized by: S1) Obtaining device status and generating collaborative control actions based on the device status; S2) generating a plurality of coordinated control output signals according to the coordinated control action; S3) using the coordinated control output signal as the corresponding standard quantity, determining the output quantity of each driver under the coordinated control action according to a preset rule to obtain the standard output quantity; S4) generating a standard output signal according to the standard output quantity, wherein the standard output signal is used to control the output state of the corresponding driver.

[0012] Preferably, the device state includes multiple sub-states, each sub-state corresponds to a sub-state flag, the sub-state flag is a discrete quantity, and the value of the sub-state flag reflects the attribute of the sub-state; when the value of the sub-state flag is 1, it indicates that the sub-state has occurred, and when the value of the sub-state flag is 0, it indicates that the sub-state has not occurred; the state of the device is obtained through the state of the sub-state flag.

[0013] Furthermore, when the sub-state flags corresponding to the multiple sub-states are 1, any one of the preset multiple coordinated control actions is used as the coordinated control action.

[0014] Preferably, any collaborative control action is pre-set with a corresponding code, and the corresponding collaborative control output signal is obtained through the code of the collaborative control action. The sub-state corresponding to the value of the sub-state flag bit equal to 1 is mapped with the preset code of the collaborative control action, so that the mapped collaborative control output signal is used as the standard output signal.

[0015] Preferably, any coordinated control action is pre-set with a corresponding output signal; when a certain coordinated control action is acquired, the output signal corresponding to the coordinated control action is used as the standard output signal.

[0016] Preferably, step S3) includes: S31) obtaining all driver information; S32) determining the standard output corresponding to each driver; S33) The standard output quantities of all the drivers are checked to ensure that the values ​​of the standard output quantities of all the drivers are within a preset working range.

[0017] Furthermore, the sum of the standard outputs of the multiple drivers is taken as a sum value, and the sum value is divided by the standard output of each driver to obtain the proportion of each driver, and the proportions of all drivers are summed up; According to step S33) comprising: S331) determining whether the ratio of the sum value to the preset nominal torque is within a first preset range; if not, outputting a check error flag and sending the check error flag to a display unit; if yes, proceeding to step S332); S332) determines whether the minimum value of all ratios is within the second preset range. If not, outputs a check error flag and sends the check error flag to the display unit. If yes, uses the result of step S33) as the check result.

[0018] Preferably, in step S331), a numerical comparison method is used to determine whether the sum value is less than the preset nominal torque, and in step S332), a numerical comparison method is used to determine whether the minimum value of all proportions is within the second preset range. In step S331), a numerical comparison method is used to determine whether the minimum value of all proportions is within the second preset range.

[0019] Furthermore, the method for presetting the nominal torque includes: determining the output of multiple drivers under coordinated control action, selecting the maximum output as the first standard output; and using the first standard output as the nominal torque.

[0020] Preferably, in step S2), a coordinated control action is generated according to the state of the control device; each driver is pre-set with a corresponding output instruction; after the output instructions of multiple drivers are determined, the output quantity of the corresponding driver is determined according to the preset rules, and superposition processing is performed; the result after the superposition processing is used as the sum value, and the sum value is used as the standard output quantity of the driver.

[0021] Furthermore, in step S2), the sum value corresponding to the coordinated action is determined according to the state of the control device; multiple drivers are used as the first input quantity, the sum of the input quantities of the multiple drivers is used as the sum value, and the sum of the squares of the differences between the sum value and the output quantity of each driver is used as the second input quantity; the sum value is used as an adjustment value for the second input quantity; the sum value and the second input quantity are processed according to a preset algorithm to obtain a result; and the result is used as the standard output quantity of the multiple drivers.

[0022] The present invention also provides a driver collaborative control system, which is characterized by: a collaborative control module, used to obtain the device status and generate a collaborative control action according to the device status; a sub-state module, used to generate multiple collaborative control output signals according to the collaborative control action; a driver coordination module, used to use the collaborative control output signal as the corresponding standard quantity, determine the output quantity of each driver under the collaborative control action according to preset rules, and obtain the standard output quantity; a driver processing module, used to generate a standard output signal according to the standard output quantity, and the standard output signal is used to control the output state of the corresponding driver.

[0023] The beneficial effects of the present invention are as follows: by acquiring the device status and generating coordinated control actions, multiple coordinated control output signals are generated, which are used as standard quantities to determine the output of each driver, and finally a standard output signal is generated to control the driver, thereby achieving coordinated control of the drivers, avoiding the centralized control mode of the central processing unit, reducing the workload of the central processing unit, reducing resource utilization and energy consumption, and reducing heat generation, thereby enhancing the control effect and improving the overall performance of the robot. At the same time, through the design of the sub-state flag bit, the acquisition of the device status is made more accurate, and through the verification mechanism of the standard output quantity, it is ensured that the driver operates within a reasonable range, further improving the reliability and stability of the control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 It is a flow chart of the control method of the present invention; Figure 2 It is a schematic diagram of the control system structure of the present invention.

[0026] The following are the descriptions of the reference numerals: DETAILED DESCRIPTION

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings and embodiments. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0030] Example 1: A collaborative control method for the actuators of the limb joints of a humanoid robot. This method achieves coordinated output of the actuators by collaboratively controlling multiple actuators, thereby improving the efficiency and stability of the system. The method includes the following steps: S1: Obtain device status and generate collaborative control actions based on the device status; Specifically, the device state consists of multiple sub-states, each of which corresponds to a sub-state flag. The sub-state flag is a discrete quantity whose value reflects the properties of the sub-state. When the sub-state flag is 1, it indicates that the sub-state has occurred; when the sub-state flag is 0, it indicates that the sub-state has not occurred. The device state is determined by the state of the sub-state flag.

[0031] In this embodiment, the device status may include multiple sub-states such as the driver operating state, load state, ambient temperature state, and power supply state. For example, the driver operating state may include normal operation, overload operation, and low-speed operation; the load state may include light load, heavy load, and overload; the ambient temperature state may include normal temperature, high temperature, and low temperature; and the power supply state may include normal power supply, undervoltage, and overvoltage.

[0032] When the sub-state flags corresponding to multiple sub-states are set to 1, any one of the multiple preset coordinated control actions is selected as the coordinated control action. Each coordinated control action can be pre-assigned with a corresponding code. The corresponding coordinated control output signal can be obtained using the coordinated control action code. The sub-state corresponding to the sub-state flag value equal to 1 is mapped to the pre-assigned coordinated control action code, and the mapped coordinated control output signal is used as the standard output signal. Each coordinated control action is pre-assigned with a corresponding output signal. When a coordinated control action is obtained, the output signal corresponding to the coordinated control action is used as the standard output signal. For example, when the drive operating state is overload (sub-state flag is 1) and the ambient temperature is high (sub-state flag is 1), "reduce output power" can be selected as the coordinated control action.

[0033] S2: Generate multiple collaborative control output signals according to the collaborative control action; In this embodiment, coordinated control actions are generated based on the state of the control device. Each driver is pre-assigned a corresponding output instruction. Once the output instructions for multiple drivers are determined, the output quantities of the corresponding drivers are determined according to pre-set rules and then summed. The summed result is used as the standard output quantity for the driver.

[0034] For example, suppose there are three drives in a system: Drive A, Drive B, and Drive C. When the coordinated control action is "load balance," the output instruction for Drive A can be set to "increase output by 30%," the output instruction for Drive B to "maintain current output," and the output instruction for Drive C to "reduce output by 20%." Based on these output instructions, the output of each drive is determined and summed to obtain the standard output.

[0035] In addition, a sum value corresponding to the coordinated action is determined based on the state of the control device. The first input is the multiple actuators, the sum of their inputs is the sum value, and the second input is the sum of the squares of the differences between the sum value and the output of each actuator. The sum value serves as an adjustment value for the second input. The sum value and the second input are processed according to a preset algorithm to obtain a result. The result is used as the standard output of the multiple actuators.

[0036] S3: Using the coordinated control output signal as the corresponding standard quantity, determine the output quantity of each driver under the coordinated control action according to the preset rules to obtain the standard output quantity; This step includes the following sub-steps: S31: Get all drive information; In this embodiment, the driver information includes parameters such as driver model, rated power, rated speed, rated voltage, rated current, efficiency, etc. By obtaining this information, a basis can be provided for the subsequent determination of the standard output.

[0037] S32: Determine the standard output corresponding to each driver; Based on the coordinated control output signal and preset rules, the standard output corresponding to each driver is determined. Preset rules can be based on factors such as driver parameters, load conditions, and operating efficiency. For example, the total output can be allocated based on the rated power ratio of the drivers, or the optimal output allocation scheme can be selected based on the driver efficiency curve.

[0038] S33: Verify the standard output quantities of all drivers to ensure that the values ​​of the standard output quantities of all drivers are within a preset working range.

[0039] The sum of the standard outputs of multiple drivers is taken as the sum value, and the sum value is divided by the standard output of each driver to obtain the proportion of each driver, and the proportions of all drivers are summed up.

[0040] The verification steps include: S331: Determine whether the ratio of the sum value to the preset nominal torque is within a first preset range. If not, output a check error flag and send the check error flag to a display unit. If yes, proceed to step S332. In this embodiment, a numerical comparison is used to determine whether the sum is less than the preset nominal torque. The first preset range can be set between 0.8 and 1.2, that is, the ratio of the sum to the nominal torque should be between 0.8 and 1.2. If the ratio is less than 0.8 or greater than 1.2, a checksum error flag is output and sent to the display unit, prompting the operator to make adjustments.

[0041] The method for presetting the nominal torque includes determining the output of multiple actuators under coordinated control, selecting the maximum output as the first standard output, and using the first standard output as the nominal torque. For example, if there are three actuators in a system and their outputs under a certain coordinated control are 100 N·m, 120 N·m, and 90 N·m, respectively, the maximum output of 120 N·m is selected as the nominal torque.

[0042] S332: Determine whether the minimum value among all the ratios is within the second preset range. If not, output the verification error flag and send the verification error flag to the display unit. If yes, use the result of step S33 as the verification result.

[0043] In this embodiment, a numerical comparison is used to determine whether the minimum value among all the ratios is within a second preset range. The second preset range can be set between 0.5 and 1.5, meaning that the minimum value of all the driver ratios should be between 0.5 and 1.5. If the minimum value is less than 0.5 or greater than 1.5, a checksum error flag is output and sent to the display unit, prompting the operator to make adjustments.

[0044] S4: Generate a standard output signal according to the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0045] In this embodiment, a standard output signal is generated based on the standard output quantity. The signal can be in the form of a voltage signal, a current signal, a PWM signal, etc. The standard output signal is transmitted to the driver through the driver to control the output state of the driver, including parameters such as speed, torque, and power.

[0046] Through the above steps, the coordinated control of multiple drivers is achieved, so that each driver works in coordination according to preset rules, improving the operating efficiency and stability of the system.

[0047] Example 2: A collaborative control system for actuators of the limb joints of a humanoid robot, which is used to achieve collaborative control of multiple actuators and includes the following modules: Collaborative control module, used to obtain device status and generate collaborative control actions based on the device status; In this embodiment, the collaborative control module obtains various device status information through the sensor network, including the driver operating status, load status, ambient temperature status, power supply status, etc. The device status includes multiple sub-states, each of which corresponds to a sub-state flag bit. The sub-state flag bit is a discrete quantity, and the value of the sub-state flag bit reflects the attributes of the sub-state. When the value of the sub-state flag bit is 1, it indicates that the sub-state has occurred. When the value of the sub-state flag bit is 0, it indicates that the sub-state has not occurred. The status of the device is obtained by the state of the sub-state flag bit.

[0048] The collaborative control module selects an appropriate collaborative control action from a pre-defined collaborative control action library based on the acquired device status. When the sub-state flags corresponding to multiple sub-states are set to 1, any of the pre-defined collaborative control actions is selected as the collaborative control action. For example, if a drive is detected to be overheated (sub-state flag set to 1) and overloaded (sub-state flag set to 1), "reducing power output" can be selected as the collaborative control action.

[0049] A sub-state module, configured to generate a plurality of coordinated control output signals according to the coordinated control action; The sub-state module receives the coordinated control action from the coordinated control module and generates multiple coordinated control output signals based on the action. These signals target different drives, instructing them on how to work together. For example, if the coordinated control action is "load balancing," the sub-state module might generate signals that increase output for some drives and decrease output for others to achieve balanced load distribution across multiple drives.

[0050] The driver coordination module is used to use the coordinated control output signal as the corresponding standard quantity, determine the output quantity of each driver under the coordinated control action according to preset rules, and obtain the standard output quantity; The driver coordination module first obtains information about all drivers, including driver model, rated parameters, and current operating status. It then determines the standard output corresponding to each driver based on the coordinated control output signals generated by the sub-status modules and pre-set rules. Finally, it verifies the standard outputs of all drivers to ensure they are within the preset operating range.

[0051] The verification process includes: taking the sum of the standard outputs of multiple drivers as a sum value, dividing the sum value by the standard output of each driver to obtain a ratio for each driver, and summing all the ratios of all drivers. Next, determining whether the ratio of the sum value to the preset nominal torque is within a first preset range; if not, outputting a verification error flag; if so, continuing to determine whether the minimum value of all ratios is within a second preset range; if not, outputting a verification error flag; if so, the verification result is used as the final result.

[0052] The driver processing module is used to generate a standard output signal according to the standard output quantity, and the standard output signal is used to control the output state of the corresponding driver.

[0053] The drive processing module receives the standard output from the drive coordination module and converts it into standard output signals suitable for the drive to identify. These signals can be analog (such as voltage and current) or digital (such as PWM signals) and are used to control the output state of the drive, including parameters such as speed, torque, and power.

[0054] Through the collaborative work of the above modules, the system can achieve coordinated control of multiple drives, allowing each drive to work in coordination according to preset rules, thereby improving the operating efficiency and stability of the system.

[0055] Example 3: A specific application example of a collaborative control method and system for the joint drivers of a humanoid robot's limbs. This method can not only be used to control the joints of a humanoid robot, but can also be used to collaboratively control the drivers of some industrial equipment. For example, in an industrial equipment comprising three drivers, the three drivers are driver A, driver B, and driver C, with rated powers of 10kW, 15kW, and 20kW, respectively.

[0056] S1: Obtain device status and generate collaborative control actions based on the device status; In this embodiment, the device status includes the following sub-statuses: -Drive A operating status: Normal operation (sub-status flag is 0) -Drive B operating status: overload operation (sub-status flag is 1) -Drive C operating status: Normal operation (sub-status flag is 0) -Ambient temperature status: high temperature (sub-status flag is 1) -Load status: Heavy load (sub-status flag is 1) Because drive B is in an overloaded state, the ambient temperature is high, and the load is heavy, the flag bits of these three sub-states are all 1. Therefore, "load redistribution" is selected as the coordinated control action from the preset coordinated control actions.

[0057] S2: Generate multiple collaborative control output signals according to the collaborative control action; According to the coordinated control action of "load redistribution", the following coordinated control output signals are generated: -Driver A: Increase output power by 30% -Driver B: Reduce output power by 20% -Driver C: Increase output power by 10% The purpose of these signals is to relieve driver B and transfer part of the load to drivers A and C, taking into account the power rating and current operating status of each driver.

[0058] S3: Using the coordinated control output signal as the corresponding standard quantity, determine the output quantity of each driver under the coordinated control action according to the preset rules to obtain the standard output quantity; S31: Get all drive information; Get the information of the three drives as follows: -Driver A: Rated power 10kW, current output power 7kW -Driver B: rated power 15kW, current output power 14kW -Drive C: Rated power 20kW, current output power 15kW S32: Determine the standard output corresponding to each driver; Calculate the standard output of each driver based on the coordinated control output signal and the current output power of the driver: -Driver A: 7kW×(1+30%)=9.1kW -Driver B: 14kW×(1-20%)=11.2kW -Drive C: 15kW×(1+10%)=16.5kW S33: Verify the standard output quantities of all drivers to ensure that the values ​​of the standard output quantities of all drivers are within a preset working range.

[0059] Calculated value: 9.1kW + 11.2kW + 16.5kW = 36.8kW Calculate the ratio of each driver: -Driver A ratio: 36.8kW ÷ 9.1kW = 4.04 -Driver B ratio: 36.8kW ÷ 11.2kW = 3.29 -Drive C ratio: 36.8kW ÷ 16.5kW = 2.23 S331: Determine whether the ratio of the sum value to the preset nominal torque is within a first preset range; The preset nominal torque is 40kW (determined by the sum of the rated powers of the three drives) Ratio of sum to nominal torque: 36.8kW÷40kW=0.92 The first preset range is 0.8 to 1.2, and 0.92 is within this range, so the process goes to step S332.

[0060] S332: Determine whether the minimum value of all ratios is within a second preset range; The smallest value among all the ratios is 2.23 (the ratio of drive C) The second preset range is 0.5 to 3.0. 2.23 is within this range, so the verification passes and the standard output is used as the final result.

[0061] S4: Generate a standard output signal according to the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0062] The following standard output signals are generated according to the standard output quantity: -Driver A: Control signal corresponding to 9.1kW (such as voltage, current or PWM signal) -Driver B: Control signal corresponding to 11.2kW -Driver C: Control signal corresponding to 16.5kW These signals are transmitted to the corresponding drivers through their respective drivers to control the output status of the drivers, realize load redistribution, reduce the burden on driver B, and avoid potential failures caused by overload and high temperature.

[0063] Through the above steps, the coordinated control of the three drives is achieved, and the output of each drive is dynamically adjusted according to the device status, which improves the operating efficiency and stability of the system.

[0064] It should be noted that the first embodiment, the second embodiment, and the third embodiment are all a type of driver cooperative control method.

[0065] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A collaborative control method for actuators of humanoid robot limb joints, characterized by: S1) Obtaining device status and generating collaborative control actions based on the device status; S2) generating a plurality of coordinated control output signals according to the coordinated control action; S3) using the coordinated control output signal as the corresponding standard quantity, determining the output quantity of each driver under the coordinated control action according to a preset rule to obtain the standard output quantity; S4) generating a standard output signal according to the standard output quantity, wherein the standard output signal is used to control the output state of the corresponding driver.

2. The collaborative control method of the humanoid robot limb joint actuators according to claim 1, characterized in that: The device status includes multiple sub-states, each of which corresponds to a sub-state flag. The sub-state flag is a discrete quantity, and the value of the sub-state flag reflects the properties of the sub-state. When the value of the sub-state flag is 1, it indicates that the sub-state has occurred. When the value of the sub-state flag is 0, it indicates that the sub-state has not occurred. The status of the device is obtained through the status of the sub-state flag.

3. The collaborative control method of the humanoid robot limb joint actuators according to claim 2, characterized in that: When the sub-state flag bits corresponding to multiple sub-states are 1, any one of the preset multiple coordinated control actions is used as the coordinated control action.

4. The collaborative control method of the humanoid robot limb joint actuator according to any one of claims 1 to 3, characterized in that Step S3) comprises: S31) obtaining all driver information; S32) determining the standard output corresponding to each driver; S33) The standard output quantities of all the drivers are checked to ensure that the values ​​of the standard output quantities of all the drivers are within a preset working range.

5. The collaborative control method of the humanoid robot limb joint actuators according to claim 4, characterized in that: Take the sum of the standard outputs of multiple drivers as the sum value, divide the sum value by the standard output of each driver to get the ratio of each driver, and sum the ratios of all drivers; According to step S33) comprising: S331) determining whether the ratio of the sum value to the preset nominal torque is within a first preset range; if not, outputting a check error flag and sending the check error flag to a display unit; if yes, proceeding to step S332); S332) determines whether the minimum value of all ratios is within the second preset range. If not, outputs a check error flag and sends the check error flag to the display unit. If yes, uses the result of step S33) as the check result.

6. The collaborative control method of the humanoid robot limb joint actuators according to claim 5, characterized in that: In step S331), a numerical comparison method is used to determine whether the sum value is less than the preset nominal torque. In step S332), a numerical comparison method is used to determine whether the minimum value of all proportions is within the second preset range. In step S331), a numerical comparison method is used to determine whether the minimum value of all proportions is within the second preset range.

7. The collaborative control method of the humanoid robot limb joint actuators according to claim 5, characterized in that: The method for presetting the nominal torque includes: determining the output of multiple drivers under coordinated control action, selecting the maximum output as the first standard output; and using the first standard output as the nominal torque.

8. The collaborative control method of the humanoid robot limb joint actuators according to any one of claims 1 to 3, characterized in that: In step S2), a coordinated control action is generated according to the state of the control device; each driver is pre-set with a corresponding output instruction; after the output instructions of multiple drivers are determined, the output quantity of the corresponding driver is determined according to the preset rules and superimposed; the result of the superimposed processing is used as the sum value, and the sum value is used as the standard output quantity of the driver.

9. The collaborative control method of the humanoid robot limb joint actuators according to any one of claims 1 to 3, characterized in that: In step S2), a sum value corresponding to the coordinated action is determined according to the state of the control device; the plurality of drivers are used as a first input quantity, the sum of the input quantities of the plurality of drivers is used as the sum value, and the sum of the squares of the differences between the sum value and the output quantity of each driver is used as a second input quantity; The sum is an adjustment value of the second input; the sum and the second input are processed according to a preset algorithm to obtain a result; and the result is used as a standard output of the multiple drivers.

10. A collaborative control system for humanoid robot limb joint actuators, characterized by: The collaborative control module is used to obtain the device status and generate collaborative control actions based on the device status; the sub-state module is used to generate multiple collaborative control output signals based on the collaborative control actions; the driver coordination module is used to use the collaborative control output signals as the corresponding standard quantities, determine the output quantity of each driver under the collaborative control action according to preset rules, and obtain the standard output quantity; The driver processing module is used to generate a standard output signal according to the standard output quantity, and the standard output signal is used to control the output state of the corresponding driver.

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