Human-machine collaborative handling control methods, systems and electronic devices

Abstract

This invention provides a human-robot collaborative handling control method, system, and electronic device. It calculates the desired normal force applied by the robot to the target object being handled, and measures the real-time normal force on the target object using sensors. Based on the desired and real-time normal forces, a control normal force to be applied is calculated. Based on a set reference trajectory and the detected external force, a composite acceleration is calculated. The desired trajectory is determined based on the composite acceleration, and an impedance controller obtains an impedance control force based on the external force and the desired trajectory. Combining the control normal force and the impedance control force, the robot's control torque is calculated. This solution considers the influence of external forces while tracking the desired trajectory, thereby achieving the goal of avoiding target deviation while maintaining operational comfort.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a human-robot collaborative handling control method, system, and electronic device. Background Technology

[0002] With the development of human-robot collaboration technology, object handling has become one of the important application scenarios in physical human-robot collaboration (PHRC). In this task, humans and robots work together on the same object, requiring coordinated control of position and force in a dynamic environment. Especially during collaborative handling, to ensure the stability of the object, it is necessary to maintain contact force with the object and respond to human operational intentions in real time to achieve smooth, safe, and efficient collaboration.

[0003] Currently, commonly used interactive control methods include impedance control and compliance control. Among them, compliance control is widely used in human-computer interaction because it is easy to implement and does not rely on joint force sensors.

[0004] However, existing methods largely focus on the robot's passive response to human intentions, lacking the ability to actively guide humans back to the desired trajectory. In actual handling tasks, constantly conforming to human operations may lead to target deviation; while completely rigid trajectory tracking reduces human comfort. Therefore, achieving appropriate robot guidance when necessary while maintaining human dominance remains a problem that current technology has not effectively solved. Furthermore, most studies assume a rigid connection between the object and the robot flange, neglecting the challenge of maintaining contact stability in practical applications, thus limiting the applicability of the system in real-world handling scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a human-machine collaborative handling control method, system, and electronic device to avoid target deviation while maintaining operational comfort.

[0006] In a first aspect, the present invention provides a human-machine collaborative handling control method, the method comprising:

[0007] Calculate the expected normal force applied by the robot to the target object being transported;

[0008] The real-time normal force on the target transport object is obtained by measuring the sensor.

[0009] Based on the desired normal force and the real-time normal force, the control normal force that should be applied is calculated.

[0010] The composite acceleration is calculated based on the set reference trajectory and the detected external force;

[0011] The desired trajectory is determined based on the synthesized acceleration, and the impedance control force is obtained by the impedance controller based on the external force and the desired trajectory.

[0012] The control torque of the robot is calculated by combining the control normal force and the impedance control force.

[0013] In an optional implementation, the step of the computational robot applying the desired normal force to the target transport object includes:

[0014] Obtain the rotation matrix of the robot's end effector coordinate system relative to the base coordinate system;

[0015] The direction of the normal contact force applied by the end effector to the target transported object is determined based on the rotation matrix.

[0016] Calculate the angle between the direction of the normal contact force and the vertical upward vector;

[0017] The desired normal force is calculated based on the direction, angle, and coefficient of friction of the normal contact force and the gravity of the target transported object.

[0018] In an optional implementation, the step of calculating the control normal force to be applied based on the desired normal force and the real-time normal force includes:

[0019] Based on the expected normal force and real-time normal force at each time point, the control normal force at the next time point is calculated using PI control.

[0020] Curve fitting is performed on the control normal force at each time point within the force control cycle to obtain the change curve of the control normal force;

[0021] The control normal force that should be applied at each time point is determined based on the aforementioned change curve.

[0022] In an optional implementation, the step of calculating the composite acceleration based on the set reference trajectory and the detected external force includes:

[0023] Based on the detected external force, obtain the first acceleration that reflects the influence of the external force;

[0024] Based on the set reference trajectory, obtain the second acceleration that reflects the influence of the tracking trajectory;

[0025] The composite acceleration is calculated based on the first acceleration, the second acceleration, and the acceleration adjustment factor.

[0026] In an optional implementation, the step of obtaining a second acceleration reflecting the influence of the tracking trajectory based on a set reference trajectory includes:

[0027] Construct the state equation of the robot's end effector, and construct the acceleration sequence at each time point based on the state equation;

[0028] The corresponding state sequence is determined based on the acceleration input sequence;

[0029] Based on the set reference trajectory and the state sequence, a cost function for motion is constructed;

[0030] The acceleration sequence in the cost function is solved, and a second acceleration reflecting the influence of the tracking trajectory is obtained based on the solved acceleration sequence.

[0031] In an optional implementation, the step of obtaining the impedance control force based on the external force and the desired trajectory via an impedance controller includes:

[0032] Based on the relationship between the joint space dynamics equation and the Cartesian space dynamics equation, the complete Cartesian space dynamics equation is obtained, so as to construct an impedance controller under the complete Cartesian space dynamics equation;

[0033] The impedance control force is calculated by the impedance controller based on the external force and the desired trajectory.

[0034] In an optional implementation, the desired trajectory includes a desired pose, a desired velocity, and a desired acceleration;

[0035] The step of calculating the impedance control force based on the external force and the desired trajectory using the impedance controller includes:

[0036] Based on the desired pose, desired velocity, and desired acceleration in the desired trajectory, and the obtained actual pose, actual velocity, and actual acceleration, the position difference, velocity difference, and acceleration difference are calculated.

[0037] The impedance controller is used to construct a closed-loop relationship between the external force, position difference, velocity difference, acceleration difference, and the expected matrix of impedance control in Cartesian space.

[0038] The impedance control force is calculated based on the external force satisfying the closed-loop relationship and the desired trajectory.

[0039] In an optional implementation, the step of calculating the control torque of the robot by combining the control normal force and the impedance control force includes:

[0040] The total control force is calculated based on the impedance control force and the control normal force.

[0041] The control torque of the robot is calculated based on the total control force and the Jacobian matrix.

[0042] Secondly, the present invention provides a human-machine collaborative handling control system, the system comprising:

[0043] The first calculation module is used to calculate the expected normal force applied by the robot to the target transport object;

[0044] The measurement module is used to measure the real-time normal force on the target transport object through sensors;

[0045] The second calculation module is used to calculate the control normal force that should be applied based on the expected normal force and the real-time normal force.

[0046] The third calculation module is used to calculate the composite acceleration based on the set reference trajectory and the detected external force;

[0047] A determination module is used to determine the desired trajectory based on the synthesized acceleration, and to obtain an impedance control force based on the external force and the desired trajectory through an impedance controller;

[0048] The calculation control module is used to calculate the control torque of the robot by combining the control normal force and the impedance control force.

[0049] Thirdly, the present invention provides an electronic device including one or more storage media and one or more processors communicating with the storage media, wherein the one or more storage media store machine-executable instructions executable by the processor, and when the electronic device is running, the processor executes the machine-executable instructions to perform the method described in any of the foregoing embodiments.

[0050] This invention provides a human-robot collaborative handling control method, system, and electronic device. It calculates the desired normal force applied by the robot to the target object being handled, and measures the real-time normal force on the target object using sensors. Based on the desired and real-time normal forces, a control normal force to be applied is calculated. Based on a set reference trajectory and the detected external force, a composite acceleration is calculated. The desired trajectory is determined based on the composite acceleration, and an impedance controller obtains an impedance control force based on the external force and the desired trajectory. Combining the control normal force and the impedance control force, the robot's control torque is calculated. This solution considers the influence of external forces while tracking the desired trajectory, thereby achieving the goal of avoiding target deviation while maintaining operational comfort. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A flowchart of a human-machine collaborative handling control method provided in an embodiment of the present invention;

[0053] Figure 2 A schematic diagram illustrating the implementation logic of the human-machine collaborative handling control method provided in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the displacement versus time curve in an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of the force versus time curve in an embodiment of the present invention;

[0056] Figure 5 This is a functional block diagram of the human-machine collaborative handling control system provided in an embodiment of the present invention;

[0057] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0058] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0059] Please see Figure 1 The above is a flowchart of a human-machine collaborative handling control method provided in an embodiment of the present invention. This method can be executed by a human-machine collaborative handling control system, which can be implemented by software and / or hardware and can be configured in an electronic device, such as a computer device, server, or, for example, a server in a back-end control platform. The detailed steps of this human-machine collaborative handling control method are described below.

[0060] S11, calculate the expected normal force applied by the robot to the target transport object.

[0061] S12, the real-time normal force on the target transport object is measured by the sensor.

[0062] S13, based on the desired normal force and the real-time normal force, calculate the control normal force that should be applied.

[0063] S14, based on the set reference trajectory and the detected external force, calculates the composite acceleration.

[0064] S15, determine the desired trajectory based on the combined acceleration, and obtain the impedance control force based on the external force and the desired trajectory through the impedance controller.

[0065] S16, combining the control normal force and the impedance control force, the control torque of the robot is calculated.

[0066] In this embodiment, the target object to be moved can be an object such as a box or cargo that needs to be moved. This solution is applied in scenarios where robots are used to move target objects. In these scenarios, the target object is also subject to external forces, primarily provided by humans, to achieve collaborative moving.

[0067] In the collaborative handling scenario of this embodiment, humans do not provide vertical support force; their force is only used to maintain the movement of the target object in the plane, meaning that humans do not bear the force in the direction of gravity.

[0068] During the transport process, the minimum normal contact force applied by the robot to the target object should be sufficient to ensure that the target object does not slip due to gravity; this minimum normal contact force is the desired normal force. The steps for calculating the desired normal force applied by the robot to the target object can be implemented as follows:

[0069] Obtain the rotation matrix of the robot's end effector coordinate system relative to the base coordinate system; determine the direction of the normal contact force applied by the end effector to the target transport object based on the rotation matrix; calculate the angle between the normal contact force direction and the vertical upward vector; calculate the desired normal force based on the normal contact force direction, the angle, the coefficient of friction, and the gravity acting on the target transport object.

[0070] Combination Figure 2 As shown, in this embodiment, it is assumed that {e} and {b} represent the coordinate system of the robot arm's end effector and the base coordinate system, respectively. A rotation matrix is ​​used... Let {e} represent the rotation relative to {b}. By common definition, the z-axis of the {e} coordinate system extends outward from the end effector. Therefore, the direction of the normal contact force applied by the end effector to the target object can be calculated based on the rotational torque using the following formula:

[0071]

[0072] Represents the direction of the normal contact force, defined The angle between the vector and the vertical upward vector is The force exerted by a robotic arm on the target object can be divided into two parts: pressure and static friction. The magnitude of the normal force is expressed as a scalar. This indicates that the upper limit of friction is determined by the normal force, assuming the coefficient of friction is... The maximum gravity compensation provided is:

[0073]

[0074] Because of direction It can be obtained through real-time calculation of forward kinematics. Therefore, given the weight of the target object being transported, the desired normal force can be obtained based on the following formula, taking into account the direction of the normal contact force, the included angle, the coefficient of friction, and the weight of the target object being transported. :

[0075]

[0076] in, The magnitude of the gravity acting on the target object being moved.

[0077] The desired normal force applied by the robot to the target object being transported can be obtained through the above method. .

[0078] In addition, the real-time normal force on the target object is measured by a force-torque (F / T) sensor installed at the end of the robotic arm. .

[0079] Based on the desired normal force and the real-time normal force, the desired force is tracked using feedback force error, thereby controlling the normal contact force. Specifically, the step of calculating the control normal force to be applied based on the desired normal force and the real-time normal force can be achieved in the following way:

[0080] Based on the expected normal force and real-time normal force at each time point, the control normal force at the next time point is calculated using PI control. Based on the control normal force at each time point within the force control cycle, curve fitting is performed to obtain the change curve of the control normal force. Based on the change curve, the control normal force that should be applied at each time point is determined.

[0081] Because different postures will occur during transportation, the expected normal force is... Different changes will occur. In this embodiment, the control normal force at the next time point can be calculated using PI control, and the calculation formula is as follows:

[0082]

[0083] in, K p , Ki These represent the proportional coefficient and the integral coefficient, respectively. This is the control normal force at the next time point.

[0084] Furthermore, at the start of the handling process, the contact force needs to increase sequentially from zero, with the expected normal force... The force changes abruptly from zero to being able to support gravity. Since a PI controller generates sudden force changes at the moment of contact, this embodiment introduces a cubic polynomial to control the normal force in order to maintain a smooth force interaction during transport and prevent sudden force changes. (The control normal force at the start of transport) ensures a smooth transition. The introduced cubic polynomial is as follows:

[0085]

[0086] At the start of the handling process, the controlling normal force at the beginning of the handling is obtained by solving the following equation. Change curve:

[0087]

[0088] in, Setting it to 0 indicates the start of the force control cycle. Setting it to 1 indicates the time of change for the entire cubic polynomial curve. This represents the normal force at the start of the cubic polynomial fitting. The same force will be generated when the movement is stopped. A mutation to 0 is represented as:

[0089]

[0090] In this way, within each force control cycle, a curve can be fitted based on the control normal force at each time point to obtain a variation curve. The control normal force to be applied at each time point is then determined based on the values ​​in the variation curve. This allows for a smooth transition of the control normal force at the beginning and end of the force control cycle, avoiding sudden changes in force.

[0091] Because of the human-machine collaborative framework, compliant control is necessary. Compliance of force interaction is achieved through impedance control, which prevents rigid force interactions by simulating a mass-spring-damped system in Cartesian space. The impedance controller obtains the impedance control force based on the external force and the desired trajectory.

[0092] Because the robotic arm needs to coordinate with the human's movements during the handling process and try to follow a preset trajectory, the desired trajectory must take into account the influence of the human's external forces and the robotic arm's preset trajectory.

[0093] Based on this, in this embodiment, the composite acceleration is obtained based on the set reference trajectory and the detected external force, and the desired trajectory is determined based on the composite acceleration.

[0094] Specifically, the step of obtaining the composite acceleration based on the set reference trajectory and the detected force can be achieved in the following way:

[0095] Based on the detected external force, a first acceleration reflecting the influence of the external force is obtained; based on the set reference trajectory, a second acceleration reflecting the influence of the tracking trajectory is obtained; based on the first acceleration, the second acceleration, and the acceleration adjustment factor, the composite acceleration is calculated.

[0096] In this embodiment, the influence of the external force and the tracking trajectory are represented by acceleration, and are respectively denoted as the first acceleration. Second acceleration .

[0097] Establish the first acceleration The connection with external forces is as follows:

[0098]

[0099] in, It is a proportionality coefficient used to convert a three-dimensional force vector into a three-dimensional acceleration. This represents the external force and torque at the end of the robotic arm. The gravity vector of the target object being moved.

[0100] The step of obtaining the second acceleration, which reflects the influence of the tracking trajectory, based on the set reference trajectory can be achieved in the following way:

[0101] A state equation for the robot's end effector is constructed, and an acceleration sequence at each time point is constructed based on the state equation. A corresponding state sequence is determined based on the acceleration input sequence. A motion cost function is constructed based on the set reference trajectory and the state sequence. The acceleration sequence in the cost function is solved, and a second acceleration reflecting the influence of the tracking trajectory is obtained based on the solved acceleration sequence.

[0102] Establishing a second acceleration The state vector is established in relation to the reference trajectory as follows: The discrete state equations are then established as follows:

[0103]

[0104] in, It is the discrete time period of MPC. , These are the zero matrix and the identity matrix, respectively. A and B Let each represent the coefficient matrix. Assume that at time [time value missing]... Place, preparing for a future moment The acceleration input at that point is: Then prepare for the future. The acceleration input sequence for each step is:

[0105]

[0106] Based on the acceleration input sequence, the corresponding state sequence can be determined as follows:

[0107]

[0108] Their relationship can be represented as:

[0109]

[0110] Based on the set reference trajectory and state sequence, the motion cost function is constructed as follows:

[0111]

[0112] in, For setting the reference trajectory, The weight matrix is ​​defined and is usually represented in diagonal form.

[0113] In the above formula Substituting these values ​​into the cost function of the motion, we can obtain information about the variables. This is a quadratic programming problem (QP), and the final solution is obtained by solving this QP problem. Extract the final The first three elements yield the second acceleration, which reflects the influence of the tracking trajectory. .

[0114] An acceleration adjustment factor is constructed based on external force and adjustable parameters, as follows:

[0115]

[0116] in, It is an adjustable parameter. Let λ be the magnitude of the external force. This satisfies the condition that when the magnitude of the external force is less than the threshold b, λ tends to 0 (depending on MPC, i.e., tracking trajectory), and when the external force is greater than b, λ tends to 1 (depending on the force exerted by the human).

[0117] Finally, the composite acceleration is obtained based on the first acceleration, the second acceleration, and the acceleration adjustment factor, and is constructed as follows:

[0118]

[0119] Based on this, the desired trajectory is determined according to the composite acceleration.

[0120] In this embodiment, in the human-machine collaborative control scenario, compliant control is introduced. Impedance control is used to achieve compliant force interaction in order to prevent rigid force interaction.

[0121] In common robotic tasks, the forces and control objectives of a robot's end effector are set in Cartesian space. Therefore, compared to traditional joint space dynamics models, the dynamic equations in Cartesian space better meet the requirements of the task space. For example, the control of the end effector's position and attitude, and the interaction forces between the end effector and the environment are all task objectives that are naturally defined in Cartesian space, thus requiring Cartesian dynamic equations for modeling and control.

[0122] In this embodiment, the impedance control force is obtained by the impedance controller based on the external force and the desired trajectory, which can be achieved in the following way:

[0123] Based on the relationship between the joint space dynamics equation and the Cartesian space dynamics equation, the complete Cartesian space dynamics equation is obtained, and an impedance controller under the complete Cartesian space dynamics equation is constructed; the impedance control force is calculated by the impedance controller based on the external force and the desired trajectory.

[0124] Cartesian equations of space dynamics can be expressed as follows:

[0125]

[0126] In the formula, , and The total external forces (torques), control forces (torques), and external disturbance forces (torques) acting on Cartesian space are all... The vector consists of two parts: force and torque. , , The degrees of freedom are the position, velocity, and acceleration of the end effector, including translation and rotation, for a total of 6 degrees of freedom. , , These are the inertial matrix, Coriolis matrix, and gravity matrix as manifested in Cartesian space.

[0127] The dynamic equations in Cartesian space need to be derived from the dynamic equations in joint space, which are defined as follows:

[0128]

[0129] in, The control torque input to the control structure, Applying torque to the external environment, q This refers to the joint angle.

[0130] Force F and joint torque The relationship can be expressed by the Jacobian matrix. Establish contact:

[0131]

[0132] in, It is obtained by vector integration, but the specific process will not be described in this article.

[0133] The relationship between the Cartesian pose and joint angles of the end effector can also be established using the Jacobian matrix. The velocity and acceleration in Cartesian space are expressed as follows:

[0134]

[0135] The connection between the joint space dynamics equation and the Cartesian space dynamics equation is as follows:

[0136]

[0137] By solving the above equation, we obtain... , , Thus, the complete Cartesian space dynamics equations are constructed, and the impedance controller under the complete Cartesian space dynamics equations is further constructed.

[0138] In this embodiment, the desired trajectory specifically includes the desired pose, desired velocity, and desired acceleration. The impedance control force is calculated based on the external force and the desired trajectory through impedance control. Specifically, this step can be implemented in the following way:

[0139] Based on the desired pose, desired velocity, and desired acceleration in the desired trajectory, and the obtained actual pose, actual velocity, and actual acceleration, the position difference, velocity difference, and acceleration difference are calculated; a closed-loop relationship is constructed between the external force, position difference, velocity difference, acceleration difference, and the desired matrix of impedance control in Cartesian space through the impedance controller; based on the external force satisfying the closed-loop relationship and the desired trajectory, the impedance control force is calculated.

[0140] The control objective at this stage is to achieve the following closed-loop dynamic equation:

[0141]

[0142] in, , and Let represent the desired inertia matrix, damping matrix, and stiffness matrix, respectively. This indicates the external force acting on the end effector of the robotic arm. , , These represent the position difference between the desired pose and the actual pose of the robot's end effector, the velocity difference between the desired velocity and the actual velocity, and the acceleration deviation between the desired acceleration and the actual acceleration, respectively. Specifically, they can be expressed as:

[0143]

[0144] in, , , This indicates the actual pose, actual velocity, and actual acceleration of the robotic arm's end effector. , , This represents the desired pose, desired velocity, and desired acceleration of the robotic arm's end effector.

[0145] Combining the Cartesian space dynamics equations and closed-loop dynamics equations described above, and based on the external forces satisfying the closed-loop relationship and the desired trajectory, the Cartesian space impedance control force is obtained as shown below. :

[0146]

[0147] To ensure consistency between the system's desired inertia and actual inertia, and to simplify the calculation of dynamic compensation, the desired inertia matrix for impedance control in Cartesian space can be designed to be the same as the robot's inertia matrix, as shown below:

[0148]

[0149] The above formula constructs a desired dynamic that is completely consistent with the robot's actual dynamic, making the entire system physically consistent and more likely to meet the energy conservation condition, thereby preventing system oscillations caused by energy injection and ensuring the stability of the controller.

[0150] Combining the above force F and joint torque Based on this relationship, the final impedance control law in the Cartesian system can be obtained as follows:

[0151]

[0152] After determining the control normal force and impedance control force using the above methods, the robot's control torque is calculated by combining the control normal force and impedance control force. Specifically, this step can be achieved in the following way:

[0153] Based on the impedance control force and the control normal force, the total control force is calculated; based on the total control force and the Jacobian matrix, the control torque of the robot is calculated.

[0154] In practice, impedance controllers cannot be used. and control normal force The two forces are simply superimposed, because if they follow the direction... The action of [something] produces displacement, and this displacement will cause [something] It generates a force in the opposite direction to counteract it. The effect of this will cause an overall decrease in contact force, therefore it is necessary to ensure the impedance control force. Controlling normal force Orthogonal directions.

[0155] Therefore, the total control force is calculated using the following formula:

[0156]

[0157] Based on the total control force and the Jacobian matrix mentioned above, the robot's control torque is calculated as follows:

[0158]

[0159] In this way, the direction of impedance control and the direction of normal contact force are orthogonal to each other and do not affect each other.

[0160] This yields the control torque used to achieve robot control. Based on this control torque, robot control can be executed, thereby realizing human-robot collaborative handling control. Figure 3 and Figure 4 The graphs showing the displacement changes and force changes of the target object during the transport process under the control scheme of this embodiment are shown respectively.

[0161] The control scheme provided in this embodiment can achieve the goal of avoiding target deviation while maintaining driving comfort by considering the influence of external forces while tracking the desired trajectory.

[0162] Based on the same inventive concept, please refer to Figure 5This invention also provides a functional module diagram of a human-machine collaborative handling control system. This embodiment divides the human-machine collaborative handling control system into functional modules based on the above method embodiments. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. It should be noted that the module division in this invention embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0163] For example, when dividing functional modules according to their respective functions, Figure 5 The illustrated human-machine collaborative handling control system is merely a schematic diagram. This system may include a first calculation module, a measurement module, a second calculation module, a third calculation module, a determination module, and a calculation control module. The functions of each module of this human-machine collaborative handling control system will be described in detail below.

[0164] The first calculation module is used to calculate the expected normal force applied by the robot to the target transport object;

[0165] The measurement module is used to measure the real-time normal force on the target transport object through sensors;

[0166] The second calculation module is used to calculate the control normal force that should be applied based on the expected normal force and the real-time normal force.

[0167] The third calculation module is used to calculate the composite acceleration based on the set reference trajectory and the detected external force;

[0168] A determination module is used to determine the desired trajectory based on the synthesized acceleration, and to obtain an impedance control force based on the external force and the desired trajectory through an impedance controller;

[0169] The calculation control module is used to calculate the control torque of the robot by combining the control normal force and the impedance control force.

[0170] The human-machine collaborative handling control system provided in this embodiment can be used to execute the human-machine collaborative handling control method under any of the above embodiments. For details not covered in this embodiment, please refer to the corresponding descriptions in the above embodiments. This embodiment will not elaborate further here.

[0171] Please see Figure 6This is a structural block diagram of an electronic device provided in an embodiment of the present invention. The electronic device can be a computer device, server, or similar device within a control platform. The electronic device includes a memory, a processor, and a communication module. The memory, processor, and communication module are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0172] The memory is used to store computer programs or data. Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0173] The processor is used to read / write data or programs stored in the memory and to execute the human-machine collaborative handling control method provided in any embodiment of the present invention.

[0174] The communication module is used to establish communication connections between electronic devices and other communication terminals via a network, and to send and receive data via the network.

[0175] It should be understood that, Figure 6 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than those shown. Figure 6 The more or fewer components shown, or having the same Figure 6 The different configurations shown.

[0176] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing machine-executable instructions, which, when executed, implement the human-machine collaborative handling control method provided in the above embodiments.

[0177] Specifically, the computer-readable storage medium can be a general-purpose storage medium, such as a removable disk or hard disk. When the computer program on the computer-readable storage medium is executed, it can perform the aforementioned human-machine collaborative handling control method. The processes involved in the execution of the executable instructions on the computer-readable storage medium can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0178] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0179] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0180] Furthermore, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0181] It should be noted that if the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0182] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0183] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A human-machine collaborative handling control method, characterized in that, The method includes: Calculate the expected normal force applied by the robot to the target object being transported; The real-time normal force on the target transport object is obtained by measuring the sensor. Based on the desired normal force and the real-time normal force, the control normal force that should be applied is calculated. The composite acceleration is calculated based on the set reference trajectory and the detected external force; The desired trajectory is determined based on the synthesized acceleration, and the impedance control force is obtained by the impedance controller based on the external force and the desired trajectory. The control torque of the robot is calculated by combining the control normal force and the impedance control force. The step of calculating the control torque of the robot by combining the control normal force and the impedance control force includes: Based on the impedance control force and the control normal force, the total control force is calculated according to the following formula: Based on the total control force and the Jacobian matrix, the control torque of the robot is calculated using the following formula: in, F cmd Indicates overall control. F imp Indicates impedance control force. O e Indicates the direction of the normal contact force. Represents the zero matrix. f n Indicates the control normal force. Indicates control torque. J This represents the Jacobian matrix.

2. The human-machine collaborative handling control method according to claim 1, characterized in that, The step of the computational robot applying the desired normal force to the target transport object includes: Obtain the rotation matrix of the robot's end effector coordinate system relative to the base coordinate system; The direction of the normal contact force applied by the end effector to the target transported object is determined based on the rotation matrix. Calculate the angle between the direction of the normal contact force and the vertical upward vector; Based on the direction of the normal contact force, the included angle, the coefficient of friction, and the gravity of the target transported object, the desired normal force is calculated.

3. The human-machine collaborative handling control method according to claim 1, characterized in that, The step of calculating the control normal force to be applied based on the expected normal force and the real-time normal force includes: Based on the expected normal force and real-time normal force at each time point, the control normal force at the next time point is calculated using PI control. Curve fitting is performed on the control normal force at each time point within the force control cycle to obtain the change curve of the control normal force; The control normal force that should be applied at each time point is determined based on the aforementioned change curve.

4. The human-machine collaborative handling control method according to claim 1, characterized in that, The step of calculating the composite acceleration based on the set reference trajectory and the detected external force includes: Based on the detected external force, obtain the first acceleration that reflects the influence of the external force; Based on the set reference trajectory, obtain the second acceleration that reflects the influence of the tracking trajectory; Based on the first acceleration, the second acceleration, and the acceleration adjustment factor, the composite acceleration is calculated according to the following formula: in, Indicates the resultant acceleration. Indicates the first acceleration. Indicates the second acceleration. This represents the acceleration adjustment factor.

5. The human-machine collaborative handling control method according to claim 4, characterized in that, The step of obtaining the second acceleration reflecting the influence of the tracking trajectory based on the set reference trajectory includes: Construct the state equation of the robot's end effector, and construct the acceleration input sequence at each time point based on the state equation; The corresponding state sequence is determined based on the acceleration input sequence; Based on the set reference trajectory and the state sequence, the motion cost function is constructed as follows: in, For setting the reference trajectory, The weight matrix is ​​defined and represented in diagonal form. Z ( k ) represents a state sequence. U ( k () represents the acceleration input sequence; The acceleration input sequence in the cost function is solved, and a second acceleration reflecting the influence of the tracking trajectory is obtained based on the solved acceleration input sequence.

6. The human-machine collaborative handling control method according to claim 1, characterized in that, The step of obtaining the impedance control force based on the external force and the desired trajectory through the impedance controller includes: Based on the relationship between the joint space dynamics equation and the Cartesian space dynamics equation, the complete Cartesian space dynamics equation is obtained, so as to construct an impedance controller under the complete Cartesian space dynamics equation; The impedance control force is calculated by the impedance controller based on the external force and the desired trajectory.

7. The human-machine collaborative handling control method according to claim 6, characterized in that, The desired trajectory includes the desired pose, desired velocity, and desired acceleration; The step of calculating the impedance control force based on the external force and the desired trajectory using the impedance controller includes: Based on the desired pose, desired velocity, and desired acceleration in the desired trajectory, and the obtained actual pose, actual velocity, and actual acceleration, the position difference, velocity difference, and acceleration difference are calculated. The impedance controller is used to construct a closed-loop relationship between the external force, position difference, velocity difference, acceleration difference, and the expected matrix of impedance control in Cartesian space. The impedance control force is calculated based on the external force satisfying the closed-loop relationship and the desired trajectory.

8. A human-machine collaborative handling control system, characterized in that, The system for implementing the human-machine collaborative handling control method according to any one of claims 1-7, the system comprising: The first calculation module is used to calculate the expected normal force applied by the robot to the target transport object; The measurement module is used to measure the real-time normal force on the target transport object through sensors; The second calculation module is used to calculate the control normal force that should be applied based on the expected normal force and the real-time normal force. The third calculation module is used to calculate the composite acceleration based on the set reference trajectory and the detected external force; A determination module is used to determine the desired trajectory based on the synthesized acceleration, and to obtain an impedance control force based on the external force and the desired trajectory through an impedance controller; The calculation control module is used to calculate the control torque of the robot by combining the control normal force and the impedance control force.

9. An electronic device, characterized in that, The device includes one or more storage media and one or more processors communicating with the storage media. The one or more storage media store machine-executable instructions that are executable by the processor. When the electronic device is running, the processor executes the machine-executable instructions to perform the method according to any one of claims 1-7.

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