Robot motion control method, robot motion control system and robot

Abstract

The embodiment of the invention provides a robot motion control method, a robot motion control system and a robot. The robot motion control method comprises the steps that mechanical state information and motion information of interaction between a motion execution mechanism in the robot and the environment are collected in real time; and based on the mechanical state information and the motion information, a robot hybrid motion control mode including an active compliance control method and a dynamics control method is used for controlling a motion execution mechanism of the robot. Thus, the active compliance control method and the dynamic control method are mixed, and on the basis of the mechanical state information and the motion information, through cooperative control of the active compliance control method and the dynamic control method, interrelay force control of the active compliance control method and direct force control of the dynamic control method are fully exerted; the dynamic response capability of the robot is improved according to a direct force control thought on the basis that virtual flexibility of the robot is achieved through an inter-force control method.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robot motion control, and in particular, to a robot motion control method, a robot motion control system, a robot, and a computer readable storage medium. BACKGROUND

[0002] With the continuous development of science and technology, various robots have been developed and applied to various application scenarios. Taking a rehabilitation robot in the field of medical devices as an example, the rehabilitation robot can be used to help patients with rehabilitation training. The rehabilitation robot can customize a rehabilitation training plan according to a designed program and adapt to the patient, which can effectively replace the therapist to train the patient repeatedly, stably, efficiently, and with high on-target rate. For example, in the postoperative rehabilitation treatment of a post-stroke hemiplegic patient, a limb rehabilitation robot (for example, an upper limb rehabilitation robot, a lower limb rehabilitation robot, or an upper and lower limb rehabilitation robot) is usually used to assist the user in rehabilitation training, mainly by connecting the user's upper and / or lower limbs through auxiliary accessories, and simultaneously limiting the circular motion of the user's upper and / or lower limb end.

[0003] Rehabilitation training requires active participation of the patient. When actively participating in rehabilitation training, the patient initiates a motion intention, and the neural network of the cerebral motor cortex, basal ganglia, and cerebellum forms a specific activation pattern. This neural electrophysiological activity driven by the motion intention can significantly promote synaptic connection reconstruction and motor control loop reorganization, which is helpful for the recovery of brain neural function. Studies have shown that the rehabilitation effect of active rehabilitation training is better than that of passive rehabilitation training.

[0004] Rehabilitation training is a complex human-computer interaction process. At present, the current rehabilitation robot generally adopts an active compliance control method to realize the mechanical interaction between the external input force and the robot motion feedback. However, the active compliance control belongs to an indirect force control method, which is limited by the identification accuracy of the external input force and the real-time performance of the robot motion feedback. Under the condition that the external input force changes greatly, the control method is prone to the problem of force interaction effect lag, which reflects its certain limitations. SUMMARY

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present disclosure is to provide a robot motion control method, a robot motion control system, a robot, and a computer readable storage medium to solve the problems in the related art.

[0006] A first aspect of the present disclosure provides a robot motion control method, comprising:

[0007] The mechanical state information and the motion information of the motion execution mechanism of the robot interacting with the environment are collected in real time; the mechanical state information includes actual environmental input force and robot driving torque; the motion information includes actual acceleration, actual speed, and actual position of the robot; and

[0008] Based on the mechanical state information and the motion information, the motion execution mechanism of the robot is controlled by using a hybrid motion control mode of the robot including an active compliance control method and a dynamics control method; the dynamics control method includes controlling the robot according to a robot dynamics model, expected environmental interaction force, and the mechanical state information and the motion information; and the active compliance control method includes controlling the robot according to admittance control and the mechanical state information and the motion information.

[0009] In an embodiment of the first aspect, in the dynamics control method, a dynamics model describes the relationship between the motion state of the motion execution mechanism of the robot and the driving input force or torque, and the dynamics model includes a robot inertia matrix, a Coriolis matrix, a gravity term, an environmental interaction force, a driving torque, and robot acceleration, speed, and position.

[0010] In an embodiment of the first aspect, in the dynamics control method, the expected driving torque of the motion execution mechanism of the robot is calculated according to the dynamics model of the motion execution mechanism of the robot, the actual acceleration, speed, and position of the robot in the motion information, and the expected environmental interaction force, and the actual interaction force between the robot and the environment is directly adjusted by torque control.

[0011] In an embodiment of the first aspect, in the active compliance control method, when the mechanical state information indicates that the environmental interaction state deviates from the expectation, the environmental interaction is indirectly adjusted by adjusting the motion parameters of the motion execution mechanism of the robot; the active compliance control method includes any one of an admittance control method, an impedance control method, and an admittance / impedance hybrid control method.

[0012] In an embodiment of the first aspect, in the admittance control method, based on an admittance control model, the motion quantity feature of the motion execution mechanism of the robot is calculated according to the actual environmental input force during the motion of the motion execution mechanism; the motion quantity feature includes at least one of a target position, a target speed, and a target acceleration.

[0013] In an embodiment of the first aspect, the admittance control model comprises a determined relationship between a resultant force of the actual environmental input force overcoming a desired interaction force of the robot and a comprehensive result of one or more physical parameters selected from a group consisting of virtual inertia, virtual damping, virtual elasticity and virtual non-linear force of the robot; the virtual inertia is related to an acceleration variation of a current acceleration of the robot relative to a desired acceleration, the virtual damping is related to a speed variation of a current speed of the robot relative to a desired speed, and the virtual elasticity is related to a position variation of a current position of the robot relative to a desired position.

[0014] In an embodiment of the first aspect, the admittance control model is used to determine a target position of a motion execution mechanism in the robot in a corresponding control period based on the actual environmental input force: in a current control period, the actual environmental input force of the motion execution mechanism of the robot interacting with the environment is collected; based on the actual environmental input force, a target acceleration of the admittance control model in the current control period is calculated; according to the target acceleration in the current control period, the target acceleration in the previous control period and the target speed in the previous control period, a target speed in the current control period is calculated; and according to the target speed in the current control period, the target speed in the previous control period and the actual position of the robot in the motion information, a target position in the current control period is calculated.

[0015] The second aspect of the present disclosure provides a robot motion control system, comprising:

[0016] a signal collection module configured to collect real-time mechanical state information and motion information of a motion execution mechanism of a robot interacting with an environment; the mechanical state information comprises an actual environmental input force and a robot driving torque; the motion information comprises an actual acceleration, an actual speed and an actual position of the robot; and

[0017] a motion switching and control module configured to control the motion execution mechanism of the robot based on the mechanical state information and the motion information by using a hybrid motion control mode of the robot comprising an active compliant control method and a dynamic control method; the dynamic control method comprises controlling the robot according to a robot dynamics model, a desired environmental interaction force and the mechanical state information and the motion information; and the active compliant control method comprises controlling the robot according to an admittance control and the mechanical state information and the motion information.

[0018] In an embodiment of the second aspect, the robot motion control system further comprises a motion control mode creation module configured to create the hybrid motion control mode of the robot comprising the active compliant control method and the dynamic control method.

[0019] The third aspect of the present disclosure provides a robot, comprising:

[0020] a motion execution device including a motion execution mechanism for executing an action;

[0021] a signal acquisition device for acquiring mechanical state information of the motion execution mechanism interacting with the environment;

[0022] a control device including a processor, a memory and a communication interface; the communication interface is communicatively coupled to the acquisition device and the motion execution device; the memory stores program instructions; the processor is configured to execute the program instructions to perform the robot motion control method as described above, generate control instructions and send them to the motion execution device through the communication interface, so that the motion execution mechanism in the motion execution device executes the action according to the control instructions.

[0023] The fourth aspect of the present disclosure provides a computer-readable storage medium storing program instructions, which, when executed, perform the robot motion control method as described above.

[0024] As described above, the robot motion control method, the robot motion control system, the robot and the computer-readable storage medium provided in the embodiments of the present disclosure include: acquiring in real time mechanical state information and motion information of a motion execution mechanism in a robot interacting with an environment; and controlling the motion execution mechanism of the robot based on a hybrid robot motion control mode including an active compliant control method and a dynamics control method. Thus, through indirect force control of the active compliant control method and direct force control of the dynamics control method, the dynamic response capability of the robot is improved according to the idea of direct force control on the basis of the robot realizing virtual compliance through the indirect force control method. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A flowchart showing the robot motion control method in an embodiment of the present disclosure.

[0026] Figure 2 A flowchart showing the robot motion control method in an embodiment of the present disclosure.

[0027] Figure 3 A module diagram showing the robot motion control system in an embodiment of the present disclosure.

[0028] Figure 4 A circuit structure diagram showing the controller of the present disclosure.

[0029] Figure 5 A structure diagram showing the robot in an embodiment of the present disclosure.

[0030] Figure 6A schematic diagram showing the principle of the robot hybrid motion control including the active compliance control method and the dynamics control method of the present disclosure. DETAILED DESCRIPTION

[0031] The advantages and effects of the present disclosure can be easily understood by those skilled in the art from the messages disclosed in the present disclosure. The present disclosure can also be implemented or applied by other different embodiments or modules, and the details in the present disclosure can be modified or changed in various ways without departing from the spirit of the present disclosure. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0032] The embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The present disclosure can be embodied in various ways, and is not limited to the embodiments described herein.

[0033] In the description of the present disclosure, the expressions of "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics represented in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics represented can be combined in any appropriate manner in any one or group of embodiments or examples. In addition, the different embodiments or examples represented in the present disclosure and the features of the different embodiments or examples can be combined and combined by those skilled in the art without conflict.

[0034] In addition, the terms "first", "second" are used only for the purpose of representation, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a group" is two or more, unless otherwise specifically limited.

[0035] In order to clearly explain the present disclosure, devices irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the description.

[0036] Throughout the description, when it is said that a device is "connected" to another device, it includes not only the case of "direct connection", but also the case of "indirect connection" in which other elements are placed therebetween. In addition, when it is said that a device "includes" a certain constituent element, unless otherwise specifically stated, other constituent elements are not excluded, but it means that other constituent elements can also be included.

[0037] Although the terms first, second, etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first interface and a second interface, etc. are distinguished from each other. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including" used herein specify the presence of stated features, steps, operations, elements, modules, items, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, modules, items, components, and / or groups thereof. As used herein, the terms "or" and "and / or" are construed to be inclusive, or mean any one or any combination of the listed items. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition are only present where the combination of elements, functions, steps or acts are inherently mutually exclusive.

[0038] The professional terms used herein are only used to refer to specific embodiments, and are not intended to limit the disclosure. The singular form used herein, unless the context clearly indicates otherwise, also includes the plural form. The meaning of "comprising" used in the specification is to specify the particular characteristics, regions, integers, steps, operations, elements and / or components, and not to exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0039] Although not differently defined, the technical terms and scientific terms used herein include the technical terms and scientific terms commonly used in the art to which the disclosure belongs, and all terms have the same meaning as generally understood by those skilled in the art. The terms defined in the commonly used dictionary are additionally interpreted to have a meaning consistent with the relevant technical literature and the currently prompted message, unless defined, and should not be overly interpreted as ideal or very formal meanings.

[0040] At present, there are still some challenges in the compliant control of robots in interactive motion control of robots, for example, in the case of large changes in external input force, force interaction effect hysteresis and poor following effect are prone to occur.

[0041] Therefore, in the embodiments of the present disclosure, a robot motion control method is provided, a hybrid robot motion control mode including an active compliant control method and a dynamics control method is constructed, and during the motion of the robot, the actual environmental input force and the robot driving torque in the interaction with the environment are collected in real time, and the hybrid motion control mode is used for corresponding control according to the actual environmental input force and the robot driving torque.

[0042] The following is described with reference to a rehabilitation robot. The rehabilitation robot is an active or passive execution robot that can be used to assist a person with a physical movement disorder to perform a rehabilitation training action to overcome the disorder. For example, the rehabilitation robot can include an end effector that moves in a two-dimensional plane and can rotate in one dimension, and the end effector is used to interact with a limb (e.g., an upper limb or a lower limb) of a user to be driven by the force applied by the user when the user moves the limb, or to provide a driving force to move / rotate the limb of the user, etc. It should be noted that the rehabilitation robot is only an example of a robot, and in other embodiments, other types of robots can also be used, and the motion control method of the present disclosure can be applied to these robots, and is not limited to the rehabilitation robot. For example, in other embodiments, the robot can be an industrial robot or a surgical robot, etc.

[0043] As shown in Figure 1 , a flowchart of the motion control method of the present disclosure in an embodiment is shown.

[0044] In Figure 1 , the motion control method includes the following steps:

[0045] Step S102: Real-time acquisition of the mechanical state information and motion information of the motion execution mechanism interacting with the environment in the robot.

[0046] In some embodiments, the real-time acquisition of the mechanical state information and motion information of the motion execution mechanism interacting with the environment in the robot is performed during the process of controlling the motion execution mechanism of the robot to move according to the motion trajectory.

[0047] Taking the rehabilitation robot as an example, the motion execution mechanism can include at least one end effector, and the end effector is used to interact with a limb (e.g., an upper limb or a lower limb) of a user, i.e., the end effector is used to interactively contact the affected limb (e.g., an upper limb or a lower limb) of the user. For example, the end effector can move in response to the force applied by the affected limb of the user. The end effector can also be driven by a driving motor, and the driving motor can be controlled by a controller, so that the end effector can be actively moved under control to drive the affected limb of the user to move. Therefore, in the embodiments of the present disclosure, the way the user performs a training action through the motion execution mechanism can include one or more of the following: an active mode, in which the user provides power to drive the motion execution mechanism to move to perform a training action. A passive mode, in which the motion execution mechanism is controlled to move to drive the user to perform a training action. An assisted mode, in which the user provides power to drive the motion execution mechanism to move to perform a training action, and the motion execution mechanism provides a certain assistance.

[0048] For example, taking the upper limb rehabilitation robot as an example, the hand of the affected side of the user's upper limb can hold or be carried on the end effector as a motion execution mechanism, when the upper limb of the affected side moves, the end effector can be driven accordingly, and at the same time, the end effector can provide certain assistance under the drive of the motor.

[0049] The motion execution mechanism of the robot moves according to a predetermined motion trajectory.

[0050] The trajectory motion can help the patient to re-establish the normal motion mode during the rehabilitation process. For example, for patients with limb movement disorders caused by stroke, training along a specific trajectory (such as from the proximal end to the distal end of the affected side of the limb, along the trajectory of normal joint activity) can activate and strengthen the neuromuscular pathway, like re-laying a correct motion “track”, so that the patient's limb gradually learns to move along the correct path, thereby recovering the basic motor function. Taking the rehabilitation of the arm as an example, the normal arm motion trajectory is from the abduction and adduction of the shoulder joint, to the flexion and extension of the elbow joint, and then to the fine movement of the wrist joint and fingers. In the rehabilitation training, the patient is required to repeat the practice along these normal trajectories, which can gradually improve the motor function of the arm, so that the patient can complete actions from simply lifting the hand to finely grasping objects.

[0051] In some embodiments, the predetermined motion trajectory is designed for precise rehabilitation of the affected side of the patient. For example, for the upper limb training of a stroke hemiplegic patient, the predetermined motion trajectory is exemplarily a horizontal straight line motion trajectory, for example, the horizontal straight line motion trajectory has two end points. Exemplarily, the predetermined motion trajectory is a combination of horizontal straight line and arc, for example, including three points in a triangle, wherein the first point and the second point are straight lines, the second point and the third point are straight lines, and the second point and the third point are arcs, or the first point and the second point are straight lines, the second point and the third point are arcs, and the second point and the third point are arcs, or the first point and the second point are arcs, the second point and the third point are arcs, and the second point and the third point are straight lines, etc. Exemplarily, the predetermined motion trajectory is a spiral trajectory (shoulder external rotation + forward bending).

[0052] In some embodiments, the predetermined motion trajectory is dynamically matched according to the degree of illness or the rehabilitation stage. By designing trajectories of different difficulty and complexity, the needs of patients with different degrees of illness or patients at different rehabilitation stages can be met. For example, for patients with severe illness or in the early stage of illness, functional recovery training is mainly used, and the motion trajectory can be designed to be simple, for example, the motion trajectory is short and the change amplitude is low. For patients with mild illness or in the later stage of recovery, functional strengthening training is mainly used, and the motion trajectory can be designed to be more complex.

[0053] In some embodiments, the predetermined motion trajectory is designed individually for the patient. For example, the motion trajectory design takes into account the biomechanical characteristics, comorbidities, psychological state, etc. of each patient.

[0054] The predetermined motion trajectory is composed of a plurality of discrete position points.

[0055] In some embodiments, the predetermined motion trajectory is obtained by trajectory recording.

[0056] Specifically, obtaining the predetermined motion trajectory by trajectory recording can include:

[0057] Controlling the motion execution mechanism of the robot or operating the motion execution mechanism of the robot by the operator to move along the predetermined motion trajectory.

[0058] In terms of function implementation, the robot can implement the function of artificial demonstration.

[0059] In specific operation, in some examples, the affected limb of the patient or the limb of the operator can be in contact with the motion execution mechanism to drive the motion execution mechanism of the robot to move and move according to the predetermined motion trajectory. Alternatively, in some examples, the limb of the operator is in contact with the motion execution mechanism to drive the motion execution mechanism to move according to the predetermined motion trajectory by dragging or pushing.

[0060] During the movement of the motion execution mechanism, the pose data of the motion execution mechanism of the robot is collected one by one based on the control cycle interval. In specific operation, during the movement of the motion execution mechanism, the pose data of the motion execution mechanism is collected every control cycle interval, wherein the pose data includes position information and attitude information. In some examples, the position information in the pose data of the motion execution mechanism can be collected by visual collection. In some examples, the attitude information in the pose data of the motion execution mechanism can be collected by an inertial measurement unit (IMU) configured on the motion execution mechanism.

[0061] Until the motion execution mechanism of the robot completes the predetermined motion trajectory, a set of discrete pose data is obtained. The obtained set of discrete pose data can form the predetermined motion trajectory.

[0062] For example, it is assumed that the pose of the reference point of the motion execution mechanism of the robot in contact with the environment in the global coordinate system O-XYZ is which includes three-dimensional position variables and three-dimensional attitude variables:

[0063]

[0064] wherein, represents the projection of the reference point on the X-axis, Y-axis and Z-axis of the coordinate system O-XYZ; represents the attitude angle of rotation around the X-axis, Y-axis and Z-axis; T represents the transpose operation, i.e., converting the original row vector into a column vector.

[0065] Suppose that the motion execution mechanism (i.e., the reference point) of the robot moves along an arbitrary trajectory, the initial reference point pose is collected and recorded at the initial time (0t time) ; After one control period (1t time), the reference point pose of the first control period is collected and recorded ; After one control period (2t time), the reference point pose of the second control period is collected and recorded ; …… At the Nth control period (Nt time), the reference point pose of the Nth control period is collected and recorded . Finally, through the collection and recording every control period, the reference point pose set is obtained , using these reference point pose sets , a predetermined motion trajectory can be formed, wherein the reference point pose set may also be recorded as .

[0066] Similarly, the control of the robot can be periodic, so the mechanical state information and motion information of the motion execution mechanism interacting with the environment can be collected in each control period, and the corresponding control can be performed according to the collected mechanical state information and motion information. The results after the current control period is controlled, such as the target position, can be used as the reference data of the next control period.

[0067] In some embodiments, the mechanical state information includes the actual environmental input force and the robot driving torque. Wherein, the actual environmental input force can also be called external force.

[0068] Therefore, in step S102, the motion execution mechanism of the robot is controlled to move according to the predetermined motion trajectory, and the mechanical state information of the motion execution mechanism interacting with the environment is collected every control period. Exemplarily, taking the actual environmental input force as an example of the mechanical state information, the actual environmental input force received by the motion execution mechanism of the robot is collected in the current control period.

[0069] In some embodiments, the robot can collect the actual environmental input force received by the motion execution mechanism through a signal collection device. Exemplarily, the signal collection device may, for example, be a force sensor or the like, and the force sensor is arranged on the motion execution mechanism.

[0070] In some embodiments, the motion information includes actual acceleration, actual velocity, and actual position of the robot, etc.

[0071] At step S104, the motion execution mechanism of the robot is controlled by using the hybrid motion control mode of the robot including the active compliance control method and the dynamics control method based on the mechanical state information and the motion information.

[0072] In the present embodiment, the hybrid motion control mode is used, i.e., the active compliance control method and the dynamics control method are included.

[0073] Therefore, in some embodiments, referring to Figure 2 , a flowchart of the motion control method of the present disclosure in another embodiment is shown.

[0074] As Figure 2 shown, the motion control method of the present disclosure includes the step of creating the hybrid motion control mode, i.e., step S100 of creating the hybrid motion control mode of the robot including the active compliance control method and the dynamics control method.

[0075] The active compliance control method is a control strategy that enables the robot to actively adjust its stiffness or comply with external forces when interacting with the environment.

[0076] In the active compliance control method, when the mechanical state information indicates that the environment interaction state deviates from the expectation, the environment interaction is indirectly adjusted by adjusting the motion parameters of the motion execution mechanism in the robot.

[0077] The active compliance control method includes the admittance control method, the impedance control method, or the admittance / impedance hybrid control method, etc.

[0078] For example, in the admittance control method, based on the collected mechanical state information of the interaction between the motion execution mechanism and the environment, the motion control instruction is used to adjust the motion execution mechanism. Specifically, in the admittance control method, based on the admittance control model, the motion amount characteristics of the motion execution mechanism are calculated according to the actual environmental input force during the motion of the motion execution mechanism in the robot, and based on the calculated motion amount characteristics of the motion execution mechanism, the control instruction is generated to control the motion execution mechanism to perform the corresponding motion. The motion amount characteristics include at least one of the target position, the target velocity, and the target acceleration.

[0079] For example, in the impedance control method, the robot is modeled as a virtual spring-mass-damper system with adjustable stiffness (K), damping (D), and mass (M), and based on the collected actual input force of the interaction between the motion execution mechanism and the environment, compliance is achieved by adjusting the impedance parameters.

[0080] It should be noted that in the following description, the admittance control method will be described in detail as an example.

[0081] In some embodiments, the admittance control model in the admittance control method is a virtual model simulating the actual situation of the robot reaching the predicted target position under the actual environmental input force. Thus, the admittance control model considers the physical elements between the actual environmental input force and the target position, such as the effects of virtual inertia, virtual damping, virtual elasticity, and virtual nonlinear force, etc. Specifically, the admittance control model includes a determined relationship between the comprehensive result of one or more physical parameters of virtual inertia, virtual damping, virtual elasticity, and virtual nonlinear force of the robot and the residual force after the actual environmental input force overcomes the expected interaction force of the robot. Among them, the virtual inertia is related to the acceleration change of the current acceleration of the robot relative to the expected acceleration, the virtual damping is related to the speed change of the current speed of the robot relative to the expected speed, and the virtual elasticity is related to the position change of the current position of the robot relative to the expected position.

[0082] Using the established admittance control model, the target position of the motion execution mechanism of the robot in the current control period can be determined based on the actual environmental input force.

[0083] In some embodiments, the above implementation can specifically include:

[0084] First, based on the actual environmental input force, the target acceleration of the admittance control model in the current control period is calculated.

[0085] Then, according to the target acceleration in the current control period, the target acceleration in the previous control period, and the target speed in the previous control period, the target speed in the current control period is calculated.

[0086] After that, according to the target speed in the current control period, the target speed in the previous control period, and the target position in the previous control period, the target position in the current control period is calculated.

[0087] Exemplarily, a formula description of an admittance control model is given:

[0088] (1)

[0089] Wherein, represents the actual environmental input force,

[0090] represents the target interaction force, which is the interaction force that needs to exist when the robot is applied without actual environmental input force, and needs to overcome the target interaction force when the actual environmental input force is applied.

[0091] represents a virtual mass parameter;

[0092] represents a virtual damping parameter;

[0093] represents a virtual spring coefficient;

[0094] respectively represent a current acceleration, a current speed, and a current position of a motion execution mechanism in the robot;

[0095] respectively represent an expected acceleration, an expected speed, and an expected position of the motion execution mechanism in the robot;

[0096] represents a virtual friction or a virtual nonlinear force.

[0097] Thus, according to the admittance control model, a target position of the motion execution mechanism of the robot in a current control cycle is determined based on the actual environment input force.

[0098] Taking the above formula (1) as an example, first, a robot motion target is calculated in a control cycle with a time length of when the actual environment input force is

[0099] , a target acceleration reached by the admittance control model in the current nth control cycle under the action of the actual environment input force is:

[0100] (2)

[0101] Next, according to the target acceleration in the current nth control cycle and the target acceleration and the target speed in the previous (n-1)th control cycle, the target speed in the current nth control cycle is calculated by using the midpoint integral method as

[0102] (3)

[0103] Then, according to the target speed in the current nth control cycle and the target speed and the target position in the previous (n-1)th control cycle, the target position in the current nth control cycle is calculated by using the midpoint integral method as: ​

[0104] (4)

[0105] Thus, the target position of the motion execution mechanism of the robot in the current control cycle is determined.

[0106] The dynamics control method is directly based on the dynamics model of the robot (including mass, inertia, friction, joint coupling, and other nonlinear factors) for control to achieve high precision and high dynamic performance of the motion.

[0107] In the dynamics control method, the dynamics model describes the relationship between the motion state of the motion execution mechanism of the robot and the driving input force or torque, and the dynamics model includes: the inertia matrix of the robot, the Coriolis matrix, the gravity term, the environmental interaction force, the driving torque, and the acceleration, velocity and position of the robot.

[0108] In the dynamics control method, the expected driving torque of the motion execution mechanism in the robot is calculated according to the dynamics model of the motion execution mechanism in the robot, the actual acceleration, velocity and position of the robot in the motion information, and the expected environmental interaction force, and the actual interaction force between the robot and the environment is directly adjusted through torque control.

[0109] In the dynamics control method, the real-time driving torque of the motion execution mechanism in the robot is calculated based on the dynamics model, and the environmental interaction is directly adjusted through torque control.

[0110] Exemplarily, a formula description of a dynamics control model is given:

[0111] (5)

[0112] wherein, indicates the inertia matrix; indicates the Coriolis matrix; indicates the gravity term; indicates the driving torque of the robot, indicates the environmental contact force.

[0113] Returning to step S104, according to the actual environmental input force in the dynamics state information and the driving torque of the robot, the active compliant control method or the dynamics control method is selected to control the motion execution mechanism of the robot.

[0114] In this embodiment, a hybrid motion control mode of the robot including the active compliant control method and the dynamics control method is created, and in the hybrid motion control mode of the robot, a dynamic switching mechanism of the active compliant control module and the dynamics control method is determined.

[0115] In some embodiments, in the dynamic switching mechanism, the actual environmental input force is compared with a threshold value in real time to determine the result. Exemplarily, the threshold value is a maximum environmental contact force threshold value.

[0116] Thus, based on the mechanical state information and motion information, the motion execution mechanism of the robot is controlled by using a robot hybrid motion control mode including an active compliance control method and a dynamic control method.

[0117] In some embodiments, the robot hybrid motion control mode including the active compliance control method and the dynamic control method is used to control the motion execution mechanism of the robot based on the mechanical state information and the motion information, including the following steps:

[0118] First, the actual environmental input force is compared with the maximum environmental contact force threshold value.

[0119] Then, according to the comparison result, the active compliance control method or the dynamic control method is selected. When the actual environmental input force is greater than the maximum environmental contact force threshold value, the active compliance control method is selected. When the actual environmental input force is less than or equal to the maximum environmental contact force threshold value, the dynamic control method is selected.

[0120] Specifically, the virtual friction force can be obtained from the above formula (1) as Therefore, the maximum environmental contact force of the robot is limited within the size of the virtual friction force, and the maximum environmental contact force in formula (4) is

[0121] Suppose that the actual acceleration of the motion execution mechanism of the robot in the n-1 control cycle is , the actual speed is , and the actual position is , then the target maximum driving force of the motion execution mechanism of the robot in the n-1 control cycle is obtained according to formula (5):

[0122]

[0123] If the actual environmental input force in the n-1 control cycle exceeds (i.e., is greater than) the maximum environmental contact force, that is, , then the actual position and the target position in the n control cycle have an error due to the target maximum environmental contact force being less than the actual environmental input force, which is represented as .

[0124] Substituting into formula (4), the target position in the n control cycle is corrected as to obtain

[0125]

[0126] Therefore, when the actual environmental input force does not exceed (i.e., is less than or equal to) the maximum environmental contact force, i.e., , the target position in the nth control cycle satisfies formula (6). When the actual environmental input force exceeds the maximum environmental contact force, i.e., , the target position in the nth control cycle satisfies formula (7).

[0127] Thus, the present disclosure can realize the hybrid force control method in formula (6) that directly controls the environmental contact force of the robot by the dynamics control method and realize the hybrid force control method in formula (7) that indirectly adjusts the environmental contact force by controlling the motion feedback of the motion actuator of the robot according to the actual environmental input force by the admittance control method.

[0128] When the robot motion control method provided by the present disclosure is applied to a rehabilitation robot, the force sensor collects the mechanical state information and motion information of the motion actuator of the robot interacting with the environment in real time, and based on the collected mechanical state information and motion information, the robot hybrid motion control mode including the active compliance control method and the dynamics control method is used to control the motion actuator of the robot. For example, when the actual environmental input force collected by the force sensor is greater than the preset maximum environmental contact force threshold, it indicates that the force currently applied by the robot to the environment is too large, which may cause damage to the environment or affect the precision of the operation task. At this time, the admittance control method is selected, and a motion control signal is outputted by the admittance control model to correct the target position to indirectly adjust the environmental contact force. Exemplarily, the target position or target speed of the motion actuator of the robot can be adjusted appropriately according to the size and direction of the deviation, so that the motion actuator of the robot slightly moves away from the environment or changes the angle of contact, thereby reducing the actual environmental input force and gradually approaching and stabilizing in the preset environmental contact force range. When the actual environmental input force collected by the force sensor is less than or equal to the preset maximum environmental contact force threshold, directly controlling the environmental contact force of the robot can more quickly and accurately reach the required force value. At this time, the dynamics control method is selected, and a force control signal is outputted by the dynamics model according to the force feedback to adjust the driving output of the motion actuator of the robot, so that the force between the robot and the environment is increased to reach the preset environmental contact force. Thus, the requirement for force of the task can be more directly met, and the response speed and precision of the control are improved.

[0129] In addition, it should be noted that during the switching process of the admittance control method and the dynamics control method, the continuity of the force output of the actuator of the robot and the smoothness of the motion trajectory should be ensured to avoid system oscillation or sudden change of the contact force.

[0130] The present disclosure further provides a robot motion control system.

[0131] Referring to Figure 3 , a schematic diagram of modules of a robot motion control system in an embodiment of the present disclosure is shown. It should be noted that the principles and technical implementation of the motion control device can refer to the motion control method in the previous embodiments, and thus are not repeated in this embodiment.

[0132] As Figure 3 shown, the robot motion control system includes a motion control mode creation module 201, a signal acquisition module 203, and a motion switching and control module 205.

[0133] The motion control mode creation module 201 is configured to create a robot hybrid motion control mode including an active compliant control method and a dynamics control method.

[0134] The signal acquisition module 203 is associated with the motion execution mechanism of the robot and is configured to acquire real-time mechanical state information and motion information of the motion execution mechanism of the robot interacting with the environment during installation of the motion trajectory of the motion execution mechanism of the robot.

[0135] In some embodiments, taking the robot as a rehabilitation robot for example, the motion execution mechanism of the rehabilitation robot can include at least one end effector and at least one drive motor corresponding to the at least one end effector.

[0136] In some embodiments, the mechanical state information interacting with the environment includes an actual environmental input force. In this way, the signal acquisition module 203 is configured to acquire the actual environmental input force applied to the motion execution mechanism and the robot driving torque. As described above, the signal acquisition module 203 can periodically acquire and record the actual environmental input force applied to the motion execution mechanism and the robot driving torque according to the corresponding control period.

[0137] In some embodiments, the motion information includes actual acceleration, actual speed, and actual position of the robot.

[0138] The motion switching and control module 205 is configured to control the motion execution mechanism of the robot based on the mechanical state information and the motion information by using the robot hybrid motion control mode including the active compliant control method and the dynamics control method.

[0139] In the active compliant control method, when the mechanical state information indicates that the environment interaction state deviates from the expectation, the motion parameters of the motion execution mechanism of the robot are adjusted to indirectly adjust the environment interaction.

[0140] The active compliant control method includes any one of a mobility control method, an impedance control method, and a mobility / impedance hybrid control method. Taking the mobility control method as an example, in the mobility control method, based on a mobility control model, a mobility quantity characteristic of a mobility execution mechanism in the robot is calculated according to an actual environmental input force in a movement process of the mobility execution mechanism; the mobility quantity characteristic includes at least one of a target position, a target speed, and a target acceleration.

[0141] In the dynamics control method, a dynamics model describes a relationship between a movement state of a mobility execution mechanism in the robot and a driving input force or torque, and the dynamics model includes an inertia matrix of the robot, a Coriolis matrix, a gravity term, an environmental interaction force, a driving torque, and an acceleration, a speed, and a position of the robot.

[0142] In the dynamics control method, an expected driving torque of the mobility execution mechanism in the robot is calculated according to the dynamics model of the mobility execution mechanism in the robot, actual acceleration, speed, and position of the robot in the mobility information, and an expected environmental interaction force, and actual interaction force between the robot and the environment is directly adjusted through torque control.

[0143] In the embodiment, a hybrid mobility control mode of the robot including the active compliant control method and the dynamics control method is created, and a dynamic switching mechanism of the active compliant control module and the dynamics control method is determined in the hybrid mobility control mode of the robot.

[0144] In some embodiments, in each control cycle, the actual environmental input force in the mechanical state information is compared with the maximum environmental contact force threshold value based on the mechanical state information and the mobility information of the mobility execution mechanism and the environment interaction collected by the signal collection module 203, and the active compliant control method or the dynamics control method is selected according to a comparison result by the mobility switching and control module 205.

[0145] Specifically, when the actual environmental input force is greater than the maximum environmental contact force threshold value, the active compliant control method is selected by the mobility switching and control module 205 to control the movement of the mobility execution mechanism in an indirect force control manner. When the actual environmental input force is less than or equal to the maximum environmental contact force threshold value, the dynamics control method is selected by the mobility switching and control module 205 to control the movement of the mobility execution mechanism in a direct force control manner. In this way, through the indirect force control of the active compliant control method and the direct force control of the dynamics control method, the dynamic response capability of the robot is improved according to the idea of the direct force control on the basis of the virtual compliance of the robot achieved through the indirect force control method.

[0146] It should be particularly noted that, in the embodiment, the active compliant control method and the dynamics control method are used to control the movement of the mobility execution mechanism in the robot. Figure 3The various functional modules in the embodiments can be implemented wholly or partially by software, hardware, firmware, or any combination thereof. When implemented by software, the software can be implemented in the form of program instruction products wholly or partially. The program instruction products include one or a group of program instructions. When the program instruction is loaded and executed by a control, the program instruction wholly or partially generates the processes or functions according to the present disclosure. The control can be a general control, a special control, a control network, or other programmable devices. The program instruction can be stored in a control readable storage medium or transmitted from one control readable storage medium to another control readable storage medium.

[0147] And, Figure 3 The apparatus disclosed in the embodiments can be implemented by other module division manners. The apparatus embodiments shown above are merely illustrative. For example, the division of the modules is merely a logical function division, and actual implementation can have another division manner, for example, a group of modules or modules can be combined or can be dynamically moved to another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed modules can be indirect coupling or communication connection through some interfaces, apparatuses or modules, and can be electrical or other forms.

[0148] In addition, Figure 3 The functional modules and sub-modules in the embodiments can be dynamically in one processing component, or each module can be physically present alone, or two or more modules can be dynamically in one component. The above-mentioned dynamic components can be realized in the form of hardware or in the form of software functional modules. When the above-mentioned dynamic components are realized in the form of software functional modules and sold or used as independent products, they can also be stored in a control readable storage medium. The storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0149] Please refer to Figure 4 , which shows a schematic diagram of the circuit structure of the control apparatus of the present disclosure.

[0150] The control apparatus can be exemplified as a control apparatus in a robot or a processing device in communication connection with the robot, such as a server, a desktop computer, a notebook computer, a tablet computer, a smart phone or other terminal.

[0151] The control apparatus includes a bus 301, a processor 302, and a memory 303. The processor 302 and the memory 303 can communicate through the bus 301. The memory 303 can store program instructions. The processor 302 realizes the steps in the robot motion control method in the previous embodiments by running the program instructions in the memory 303, for example Figure 1 as shown.

[0152] The bus 301 can be a Peripheral Component Interconnect (PCI) bus or 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, although only one thick line is shown in the figure, it does not mean that there is only one bus or only one type of bus.

[0153] In some embodiments, the processor 302 can be implemented as a Central Processing Unit (CPU), a Micro Control Unit (MCU), a System On Chip, or a Field Programmable Gate Array (FPGA), etc. The memory 303 can include a volatile memory for temporary storage of data during operation, such as a Random Access Memory (RAM).

[0154] The memory 303 can also include a non-volatile memory for data storage, such as a Read-Only Memory (ROM), a flash memory, a Hard Disk Drive (HDD), or a Solid-State Disk (SSD).

[0155] In some embodiments, the control device can further include a communication interface 304. The communication interface 304 is configured to communicate with the outside. In specific examples, the communication interface 304 can include one or a set of wired and / or wireless communication circuit modules. For example, the communication interface 304 can include one or more of, for example, a wired network card, a USB module, a serial interface module, etc. The wireless communication module can comply with one or more of, for example, Near Field Communication (NFC) technology, Infared (IR) technology, Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Blue Tooth (BT), Global Navigation Satellite System (GNSS), etc.

[0156] Referring to Figure 5 , a structural schematic diagram of a robot in an embodiment of the present disclosure is shown.

[0157] As shown in Figure 5 , the robot includes a motion execution device 401, a signal acquisition device 403, and a control device 405.

[0158] The motion execution device 401 can include a motion execution mechanism that executes an action, which can be sliding, rotating, etc. For example, the execution mechanism can include one or more sliding mechanisms, such as a combination of a slide rail / slide groove and a sliding block, a screw rod and a sliding block connected by the screw rod, etc., and can also include one or more shaft rotating mechanisms to achieve rotation.

[0159] For example, the motion execution device 401 can include a motor driver including a motion controller (e.g., a PID controller), a current acquisition and control circuit, and a driving motor (e.g., a direct current motor or an alternating current motor).

[0160] The signal acquisition device 403 can include a force sensor for acquiring actual environmental input force received by the motion execution mechanism of the robot.

[0161] The control device 405 can be based on Figure 4 The control device 405 in the example can be a controller built into the robot or a processing terminal in communication connection with the robot. The memory of the control device 405 can pre-store an active compliant control method (e.g., a mobility control model in the mobility control method) and a dynamics control method (e.g., a dynamics control model) to be called when the methods are executed.

[0162] The control device 405 can control the motor driver according to the target pose to drive the driving motor to drive the connected execution mechanism (e.g., an end effector) to output motion and force to the user. For example, the user is actively driven to move, or the user is provided with a pre-designed interaction force during passive movement, such as setting a resistance for the user to perform rehabilitation training, etc.

[0163] Please refer to Figure 6 , which shows a schematic diagram of the principle of the robot hybrid motion control of the robot including the active compliant control method and the dynamics control method.

[0164] As shown in Figure 6 , the signal acquisition device 503 of the robot acquires the mechanical state information and motion information of the motion execution device 501 of the robot interacting with the environment. Optionally, the robot further includes a signal processing circuit 504 for processing the original signal representing the mechanical state information and the motion information to obtain a quantized signal. For example, the original signal is processed, for example, noise reduction, filtering, etc., and a signal quantization method (e.g., image processing, such as gray processing, etc.) is performed to obtain a quantized signal that can be recognized by the control device 505.

[0165] The control device 505 controls the motion execution mechanism of the robot based on the mechanical state information and motion information acquired by the signal acquisition device 503 using the robot hybrid motion control mode including the active compliant control method and the dynamics control method.

[0166] In some embodiments, by the control device 505 based on the mechanical state information and motion information acquired by the signal acquisition device 503, the actual environmental input force in the mechanical state information is compared with the maximum environmental contact force threshold, and according to the comparison result, the active compliant control method or the dynamics control method is selected.

[0167] When the actual environment input force is greater than the preset maximum environment contact force threshold, a selected admittance control method is selected, a motion control signal is output by an admittance control model and sent to the motion execution device 501, and the target position of the motion execution device 501 is corrected to indirectly adjust the environment contact force.

[0168] When the actual environment input force is less than the preset maximum environment contact force threshold, a selected dynamics control method is selected, a force control signal is output by a dynamics model according to force feedback, and sent to the motion execution device 501, and the driving output of the motion execution device 501 is adjusted to increase the force between the robot and the environment to reach the preset environment contact force.

[0169] It should be particularly noted that the flow or method represented by the flowchart of the above-mentioned embodiments of the present disclosure can be understood as representing a module, a segment or a part of code including one or more sets of executable instructions configured to implement a specific logical function or process. And the scope of the preferred embodiments of the present disclosure includes additional implementations, in which the functions can be performed in a substantially simultaneous manner or in reverse order according to the functions involved, rather than in the order shown or discussed.

[0170] For example, Figure 1 Or Figure 2 The order of each step in the method embodiments such as the above may be varied in specific scenarios, and is not limited to the above representation.

[0171] In the embodiments of the present disclosure, a computer-readable storage medium can also be provided, which stores program instructions, and the program instructions are executed to implement the steps in the robot motion control method in any of the preceding embodiments.

[0172] That is, the method steps in the above-mentioned embodiments are implemented as software or control code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or by network download, original storage in a remote recording medium or non-transitory machine-readable medium and storage in a local recording medium, so that the method represented herein can be processed by such software on a recording medium using a general-purpose control, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA).

[0173] In the embodiments of the present disclosure, a computer program product can also be provided, which includes program instructions for executing the steps in the robot motion control method in any of the preceding embodiments.

[0174] In summary, the robot motion control method, the robot motion control system, the robot, and the computer readable storage medium provided in the embodiments of the present disclosure include: collecting real-time mechanical state information and motion information of a motion execution mechanism in a robot interacting with an environment; and controlling the motion execution mechanism of the robot based on the mechanical state information and the motion information by using a hybrid robot motion control mode including an active compliance control method and a dynamics control method. In the present disclosure, by mixing the active compliance control method and the dynamics control method, based on the mechanical state information and the motion information, through the collaborative control of the two, the indirect force control of the active compliance control method and the direct force control of the dynamics control method are fully utilized, and on the basis of the virtual compliance achieved by the indirect force control method, the dynamic response capability of the robot is improved according to the idea of the direct force control.

[0175] The above embodiments only exemplarily illustrate the principles and effects of the present disclosure, and are not intended to limit the present disclosure. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present disclosure. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present disclosure shall still be covered by the protection scope of the present disclosure.

Claims

1. A robot motion control method, characterized in that, include: The system collects real-time mechanical state information and motion information of the robot's motion actuators interacting with the environment; the mechanical state information includes the actual environmental input force and the robot's driving torque; the motion information includes the robot's actual acceleration, actual velocity, and actual position. as well as Based on the aforementioned mechanical state information and motion information, a hybrid motion control mode for the robot, including active compliant control and dynamic control methods, is used to control the robot's motion actuators. The dynamic control method includes controlling the robot according to the robot's dynamic model, desired environmental interaction forces, and mechanical state information and motion information. The active compliant control method includes controlling the robot according to admittance control, as well as mechanical state information and motion information.

2. The robot motion control method according to claim 1, characterized in that, In the aforementioned dynamic control method, the dynamic model describes the relationship between the motion state of the robot's motion actuator and the driving input force or torque. The dynamic model includes: the robot's inertia matrix, Coriolis matrix, gravity term, environmental interaction force, driving torque, and the robot's acceleration, velocity, and position.

3. The robot motion control method according to claim 1, characterized in that, In the dynamic control method, the desired driving torque of the motion actuator in the robot is calculated based on the dynamic model of the motion actuator in the robot, the actual acceleration, velocity and position of the robot in the motion information, and the desired interaction force with the environment. The actual interaction force between the robot and the environment is directly adjusted through torque control.

4. The robot motion control method according to claim 1, characterized in that, In the active compliance control method, when the mechanical state information indicates that the environmental interaction state deviates from the expectation, the environmental interaction is indirectly adjusted by adjusting the motion parameters of the motion actuator in the robot; the active compliance control method includes any one of the admittance control method, impedance control method, and admittance / impedance hybrid control method.

5. The robot motion control method according to claim 4, characterized in that, In the admittance control method, based on the admittance control model, the motion quantity characteristics of the motion actuator are calculated according to the actual environmental input force during the motion process of the motion actuator in the robot; the motion quantity characteristics include at least one of target position, target velocity, and target acceleration.

6. The robot motion control method according to claim 5, characterized in that, The admittance control model includes: a definite relationship between the combined result of one or more physical parameters of the robot, such as virtual inertia, virtual damping, virtual elasticity, and virtual nonlinear force, and the residual force after the actual environmental input force overcomes the robot's desired interaction force; the virtual inertia is related to the acceleration change of the robot's current acceleration relative to the desired acceleration, the virtual damping is related to the velocity change of the robot's current velocity relative to the desired velocity, and the virtual elasticity is related to the position change of the robot's current position relative to the desired position.

7. The robot motion control method according to claim 5, characterized in that, Using the admittance control model, based on the actual environmental input force, the target position of the motion actuator in the robot within the corresponding control cycle is determined: During the current control cycle, the actual environmental input force between the robot's motion actuators and the environment is collected; Based on the actual environmental input force, calculate the target acceleration of the admittance control model in the current control cycle; The target velocity in the current control cycle is calculated based on the target acceleration in the current control cycle, the target acceleration in the previous control cycle, and the target velocity in the previous control cycle. The target position in the current control cycle is calculated based on the target speed in the current control cycle, the target speed in the previous control cycle, and the actual position of the robot in the motion information.

8. A robot motion control system, characterized in that, include: The signal acquisition module is used to acquire in real time the mechanical state information and motion information of the interaction between the motion actuators in the robot and the environment; the mechanical state information includes the actual environmental input force and the robot driving torque; the motion information includes the robot's actual acceleration, actual velocity, and actual position; as well as The motion switching and control module is used to control the robot's motion actuators based on the mechanical state information and motion information using a hybrid motion control mode that includes active compliant control and dynamic control methods. The dynamic control method includes controlling the robot according to the robot's dynamic model, desired environmental interaction forces, and mechanical state information and motion information; the active compliant control method includes controlling the robot according to admittance control, mechanical state information, and motion information.

9. The robot motion control system according to claim 8, characterized in that, It also includes a motion control pattern creation module for creating hybrid motion control patterns for robots that include active compliant control methods and dynamic control methods.

10. A robot, characterized in that, include: A motion actuator, including a motion actuator mechanism for performing actions; A signal acquisition device is used to acquire mechanical state information of the interaction between the motion actuator and the environment; The control device includes: a processor, a memory, and a communication interface; the communication interface is communicatively coupled to the acquisition device and the motion execution device; the memory stores program instructions; the processor is used to run the program instructions to execute the robot motion control method as described in any one of claims 1 to 7, generate control instructions and send them to the motion execution device through the communication interface, so that the motion execution mechanism in the motion execution device performs an action according to the control instructions.

11. A computer-readable storage medium, characterized in that, The system stores program instructions, which, when executed, perform the robot motion control method as described in any one of claims 1 to 7.

Images