Robot control method and system

Abstract

The invention provides a robot control method and system. The method comprises the steps that hand posture information is obtained based on a first positioning device, and body posture information is obtained based on a second positioning device; according to the hand position and posture information and the body position and posture information, whether the relative posture of the hand relative to the body is changed or not is determined; if yes, the active pose transformation amount of the hand relative to the body is calculated according to the hand pose information and the body pose information, and the target chassis pose of the movable chassis is calculated according to the hand pose information and the body pose information; calculating a target mechanical arm pose of the mechanical arm according to the active pose transformation amount; and according to the target mechanical arm pose and the target chassis pose, a first control instruction and a second control instruction are generated correspondingly. Decoupling control over the mechanical arm and the chassis is achieved, and the stability and accuracy of whole-body control of the robot are improved.

Description

Technical Field

[0001] This application relates to the field of robot motion control technology, and in particular to a robot control method and system. Background Technology

[0002] In the field of robot control, existing chassis-plus-robotic arm solutions have significant shortcomings in data acquisition. Existing solutions typically involve manually dragging or remotely controlling the chassis in conjunction with manual operation of the robotic arm. This creates a disconnect between the control of the robotic arm and the chassis. When controlling the robotic arm, operators also need to use buttons or manually control the chassis, making the operation cumbersome and lacking in coordination.

[0003] To overcome the disconnect between the control of the robotic arm and the chassis, existing robot control solutions can simultaneously control the chassis and robotic arm by controlling the end effector of the robotic arm. However, because the coupling between the chassis and the robotic arm creates a complex spatial problem, pose calculations can easily result in multiple different pose solutions for the robotic arm joints and the chassis, leading to unexpected robot postures. Furthermore, controlling the end effector of the robotic arm may cause unnecessary movement of the chassis. Existing robot control solutions cannot decouple the pose calculation and motion control of the robotic arm and the chassis, making it difficult to meet the precise and stable control requirements for robots. Summary of the Invention

[0004] This application provides a robot control method and system. By using a body positioner to control a movable chassis and a hand positioner to control a robotic arm, and combining the relative pose judgment of the hand and body, the two are decoupled and controlled. This not only solves the sense of separation between the control of the robotic arm and the chassis in the traditional solution, but also avoids the uncertainty of chassis movement caused by the high coupling between the two, thereby improving the stability and operation accuracy of the robot's whole-body control.

[0005] In a first aspect, this application provides a robot control method applied to a robot control system. The robot control system includes a robot body and a positioning device. The robot includes a movable chassis and a robotic arm. The positioning device includes at least one set of first positioning devices for acquiring hand position posture information and at least one set of second positioning devices for acquiring body position posture information. The method includes: Hand pose information is obtained based on the first positioning device, and body pose information is obtained based on the second positioning device. Determine whether the relative position of the hand with respect to the body has changed based on the hand position information and the body position information; If the relative pose changes, the active pose change of the hand relative to the body is calculated based on the hand pose information and the body pose information, and the target chassis pose of the movable chassis is calculated based on the hand pose information and the body pose information. The target pose of the robotic arm is calculated based on the active pose transformation amount. A first control command and a second control command are generated based on the pose of the target robotic arm and the pose of the target chassis, respectively. The first control command is used to control the robotic arm, and the second control command is used to control the movable chassis.

[0006] Secondly, embodiments of this application provide a robot control system, which includes a robot body and a positioning device. The robot includes a movable chassis and a robotic arm. The positioning device includes at least one set of first positioning devices for acquiring hand position posture information and at least one set of second positioning devices for acquiring body position posture information. The system is used to perform the steps of implementing the method described in the first aspect above.

[0007] Thirdly, embodiments of this application provide a robot control device, including: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method described in the first aspect above.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program / instructions stored thereon, which is executed by a processor to implement the steps of the method described in the first aspect above.

[0009] Fifthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program being operable to cause a computer to perform some or all of the steps described in the first aspect of embodiments of this application.

[0010] As can be seen, in this embodiment, hand pose information is obtained based on the first positioning device, and body pose information is obtained based on the second positioning device. The relative pose of the hand relative to the body is determined based on the hand and body pose information. If the relative pose changes, the active pose transformation amount of the hand relative to the body is calculated based on the hand and body pose information, and the target chassis pose of the movable chassis is calculated based on the hand and body pose information. The target robotic arm pose is calculated based on the active pose transformation amount. A first control command and a second control command are generated based on the target robotic arm pose and the target chassis pose, respectively. The first control command is used to control the robotic arm, and the second control command is used to control the movable chassis. Thus, the robot control scheme provided in this application, by combining the relative pose judgment of the hand and body, achieves decoupled control of the robotic arm and chassis, solving the disconnect between the control of the robotic arm and chassis in traditional schemes, and avoiding the uncertainty of chassis movement caused by high coupling between the two, thereby improving the stability and operational accuracy of the robot's whole-body control. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the system architecture of a robot control system provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the steps of a robot control method provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the steps for determining active hand pose variables according to an embodiment of this application; Figure 4 This is a schematic diagram illustrating another step in determining the active pose variable of the hand, as provided in an embodiment of this application. Figure 5 This is a schematic diagram of a robot motion control scenario at a current moment, provided in an embodiment of this application. Figure 6 This is a schematic diagram of another scenario for robot motion control at the current moment, provided in an embodiment of this application. Figure 7 This is a schematic diagram of another scenario for robot motion control at the current moment, provided in an embodiment of this application. Figure 8 This is a functional module block diagram of a robot control system provided in an embodiment of this application; Figure 9 This is a structural block diagram of a robot control device provided in an embodiment of this application. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0014] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0015] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0016] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0017] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0018] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0019] In the embodiments of this application, "equal to" can be used with "greater than" and is applicable to technical solutions used when "greater than" is used; it can also be used with "less than" and is applicable to technical solutions used when "less than" is used. When "equal to" is used with "greater than", it is not used with "less than"; when "equal to" is used with "less than", it is not used with "greater than".

[0020] In the field of robot control, existing chassis-plus-robotic arm solutions have significant shortcomings in data acquisition. Existing solutions typically involve manually dragging or remotely controlling the chassis in conjunction with manual operation of the robotic arm. This creates a disconnect between the control of the robotic arm and the chassis. When controlling the robotic arm, operators also need to use buttons or manually control the chassis, making the operation cumbersome and lacking in coordination.

[0021] To overcome the disconnect between the control of the robotic arm and the chassis, existing robot control solutions can simultaneously control the chassis and robotic arm by controlling the end effector of the robotic arm. However, because the coupling between the chassis and the robotic arm creates a complex spatial problem, pose calculations can easily result in multiple different pose solutions for the robotic arm joints and the chassis, leading to unexpected robot postures. Furthermore, controlling the end effector of the robotic arm may cause unnecessary movement of the chassis. Existing robot control solutions cannot decouple the pose calculation and motion control of the robotic arm and the chassis, making it difficult to meet the precise and stable control requirements for robots.

[0022] To address the aforementioned problems, this application provides a robot control method and system, which will be described in detail below with reference to the accompanying drawings.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram of the system architecture of a robot control system provided in an embodiment of this application, such as... Figure 1 As shown, the robot control system 100 includes a robot body 110 and a positioning device 120. The robot body 110 includes a robotic arm 111 and a movable chassis 112, and the positioning device 120 includes a first positioning device 121 and a second positioning device 122.

[0024] The robot body 110 is the core component for performing specific operations and movement tasks. The robotic arm 111 is mainly responsible for precision operations, such as grasping and assembling target objects. It can adjust the position and posture of its end effector and joints according to the received control commands to complete specific operation tasks. The movable chassis 112 bears the function of supporting the robotic arm 111 and driving the robot as a whole to move. It can change its position and posture according to control commands, providing a suitable spatial position basis for the operation of the robotic arm 111.

[0025] The positioning device 120 is a key sensing component for achieving precise control. The first positioning device 121 collects real-time hand posture information from the operator, such as hand position, angle, and movement trajectory. This data is transmitted to the system's control logic module, providing a basis for the motion control of the robotic arm 111. The second positioning device 122 collects real-time body posture information from the operator, such as torso movement and posture changes. This data is also transmitted to the control logic module to assist in judging and calculating the target pose of the movable chassis 112.

[0026] Specifically, the first positioning device 121 can be configured at the hand position of the teleoperator to collect hand movement information. The first positioning device 121 can employ various high-precision positioning technologies, such as vision-based positioning systems (capturing hand feature point movements via a camera), devices combining inertial measurement units (IMUs) and mechanical sensors (detecting hand acceleration, angular velocity, and force to determine pose), and electromagnetic positioning systems (tracking hand position and posture using electromagnetic field changes). Different types are suited to different precision and scenario requirements. For example, in the teleoperation of minimally invasive surgical robots, electromagnetic positioning systems may be selected to capture subtle hand movements with high precision even in shielded environments.

[0027] Specifically, the second positioning device 122 can be configured at the operator's body position, such as the waist, to collect body movement information. Technologies that can be used in the second positioning device 122 include laser positioning systems (which determine body posture by scanning the body contour with lasers), multi-camera visual positioning (capturing body posture from different angles), and wearable inertial positioning devices (Wearing an IMU at the waist, shoulders, etc., integrating multi-sensor data to calculate body posture). For example, in the remote operation of large industrial robots, multi-camera visual positioning can more comprehensively capture the operator's wide range of body movements and posture changes, ensuring the accuracy of chassis movement.

[0028] It should be noted that this application does not limit the built-in modules and components of the first positioning device 121 and the second positioning device 122, including but not limited to lidar, cameras, etc., as long as they can obtain hand pose information and body pose information.

[0029] As can be seen, in this embodiment, the robot body 110 includes a robotic arm 111 and a movable chassis 112, and the positioning device 120 includes a first positioning device 121 and a second positioning device 122. The first positioning device 121 calculates the target pose of the robotic arm 111 by acquiring hand pose information, and the second positioning device 122 calculates the target pose of the movable chassis 112 by acquiring body pose information. This achieves decoupled collaborative control between the robotic arm 111 and the movable chassis 112, which eliminates the sense of operational disconnect and avoids the uncertainty and collision risk of coupled control. At the same time, it adapts to various accuracy requirements and scenario types, significantly improving the accuracy, stability and applicability of the robot's whole-body control.

[0030] The following is combined with Figure 2 This application describes a robot control method provided in an embodiment. Figure 2 This is a flowchart illustrating the steps of a robot control method provided in an embodiment of this application, specifically including the following steps: Step S210: Obtain hand pose information based on the first positioning device, and obtain body pose information based on the second positioning device.

[0031] The hand pose information includes, but is not limited to, the overall hand pose information, such as the three-dimensional coordinates of the hand in the preset coordinate system (X, Y, Z axis coordinates), as well as the pitch angle, tilt angle, and rotation angle of the hand, which are used to determine the overall spatial position and posture of the hand.

[0032] The body posture information includes, but is not limited to, spatial position information, such as the three-dimensional coordinate data (X, Y, Z axis coordinates) of the body in a preset coordinate system (such as the base station coordinate system), used to determine the overall movement direction and distance of the body; and posture angle information, such as the posture deflection parameters of the body, including pitch angle (forward and backward tilt angle), side tilt angle (left and right tilt angle), and rotation angle (turning angle around the vertical axis), used to capture the posture change trend of the body.

[0033] Specifically, the first positioning device employs various high-precision technologies such as visual positioning, inertial measurement combined with mechanical sensing, and electromagnetic positioning to accurately capture details such as the hand's position, angle, and movement trajectory, thereby obtaining hand pose information. The second positioning device utilizes technologies such as laser positioning, multi-camera visual positioning, and wearable inertial positioning to comprehensively collect information such as torso movement and posture changes, thereby obtaining body pose information. The first and second positioning devices perform multiple capture operations to obtain hand pose information and body pose information at different times.

[0034] Step S220: Determine whether the relative position of the hand to the body has changed based on the hand position information and the body position information.

[0035] Understandably, when the operator moves their entire body, such as taking a step or turning around, their hands may move passively with the body (not actively), in which case only the chassis needs to be controlled to follow. When the hands move actively relative to the body, such as raising the hand or extending the arm, the robotic arm's movements need to be controlled synchronously. By judging relative posture, these two scenarios can be accurately distinguished, avoiding invalid movements of the robotic arm following the body's movement, or accidental movement of the chassis due to hand operations.

[0036] In one possible embodiment, determining whether the relative pose of the hand relative to the body has changed based on the hand pose information and the body pose information includes: determining a first relative pose of the hand relative to the body at a previous moment and determining a second relative pose of the hand relative to the body at the current moment based on the hand pose information and the body pose information; and determining whether the relative pose of the hand relative to the body has changed based on the magnitude relationship between the relative pose difference between the first relative pose and the second relative pose and a preset threshold.

[0037] Specifically, determining whether the relative pose of the hand relative to the body has changed based on the relationship between the relative pose difference between the first relative pose and the second relative pose and a preset threshold includes: if the relative pose difference between the first relative pose and the second relative pose is greater than the preset threshold, then determining that the relative pose of the hand relative to the body has changed; and if the relative pose difference between the first relative pose and the second relative pose is less than or equal to the preset threshold, then determining that the relative pose of the hand relative to the body has not changed.

[0038] In one possible embodiment, determining whether the relative pose of the hand relative to the body has changed based on the hand pose information and the body pose information includes: determining a first hand pose of the hand and a first body pose of the body at a previous moment, and determining a second hand pose of the hand and a second body pose of the body at the current moment; determining the total pose change of the hand based on the first hand pose and the second hand pose; determining the pose change of the body based on the first body pose and the second body pose; if the difference between the total pose change of the hand and the pose change of the body is greater than a first preset threshold, then it is determined that the relative pose of the hand relative to the body has changed; if the difference between the total pose change of the hand and the pose change of the body is less than or equal to the first preset threshold, then it is determined that the relative pose of the hand relative to the body has not changed.

[0039] For example, a spatial rectangular coordinate system is established with the initial position of the second positioning device (configured at the waist of the operator) as the origin. The X-axis is the horizontal forward direction, the Y-axis is the horizontal right direction, and the Z-axis is the vertical upward direction. The attitude angles include the pitch angle α around the X-axis, the roll angle β around the Y-axis, and the rotation angle γ around the Z-axis. At the previous moment T0, the absolute pose of the first positioning device (hand) is Th0 = (Xh0 = 200mm, Yh0 = 150mm, Zh0 = 1200mm, αh0 = 5°, βh0 = 3°, γh0 = 0°); the absolute pose of the second positioning device (waist) is Tb0 = (Xb0 = 0mm, Yb0 = 0mm, Zb0 = 1000mm, αb0 = 0°, βb0 = 0°, γb0 = 0°). Based on the formula: relative pose = absolute pose of hand - absolute pose of body (direct subtraction of position dimensions and angle dimensions, since the body coordinate system is the reference, no additional coordinate transformation is needed), the first relative pose Tr0 is calculated as (200mm, 150mm, 200mm, 5°, 3°, 0°). At the current time T1, the absolute pose of the first positioning device (hand) is Th0 = (Xh1 = 220mm, Yh1 = 150mm, Zh1 = 1250mm, αh1 = 7°, βh1 = 3°, γh1 = 0°), and the absolute pose of the second positioning device (waist) is Tb1 = (Xb1 = 0mm, Yb1 = 0mm, Zb1 = 1000mm, αb1 = 0°, βb1 = 0°, γb1 = 0°). Then, the second relative pose Tr1 is calculated as (220mm, 150mm, 250mm, 7°, 3°, 0°). Then, the relative pose difference ΔTr = Tr1 - Tr0 = (ΔXr = 20mm, ΔYr = 0mm, ΔZr = 50mm, Δαr = 2°, Δβr = 0°, Δγr = 0°). Furthermore, if the preset thresholds include ΔXr=1mm, ΔZr=1mm, and Δαr=0.3°, then the position difference and angle difference in the relative pose difference both exceed the preset thresholds, and it is determined that the relative pose has changed.

[0040] It should be noted that the above example only provides one way to calculate the relative pose difference based on the relative pose, and does not limit the specific calculation method and process.

[0041] As can be seen, in this embodiment, by determining whether the movement of the hand relative to the body is an active operation, it is possible to accurately distinguish between scenarios of "operator's whole-body movement (passive hand movement)" and "active hand movement", effectively avoiding invalid movements of the robotic arm as the body moves or accidental movement of the chassis due to hand operation, providing accurate judgment basis for subsequent decoupling control of the robotic arm and chassis, and improving the accuracy and rationality of robot control.

[0042] In step S230, if the relative pose changes, the active pose change of the hand relative to the body is calculated based on the hand pose information and the body pose information, and the target chassis pose of the movable chassis is calculated based on the hand pose information and the body pose information.

[0043] The active pose change of the hand relative to the body refers to the pose change generated by the active movement of the hand relative to the body. That is, after removing the passive following part caused by body movement from the total pose change of the hand, the remaining pose change is generated by the operator's active control. It includes both active spatial movement (such as the distance of the hand's forward extension or lateral movement relative to the body) and active posture adjustment (such as the pitch and rotation angle changes of the hand relative to the body), which are the core motion parameters that the robotic arm needs to synchronously replicate.

[0044] In one possible embodiment, calculating the target chassis pose of the movable chassis based on hand pose information and body pose information includes: calculating a second target pose change amount generated by the movable chassis following the body movement at the next moment based on the body pose change amount; obtaining a first chassis pose of the movable chassis at the current moment; and determining the target chassis pose of the movable chassis based on the first chassis pose and the second target pose change amount.

[0045] Among them, the pose change amount of the body refers to the pose change between the first body pose obtained from the previous moment and the second body pose obtained from the body pose information at the current moment.

[0046] It is understandable that the movable chassis moves with the body, and the hands will not interfere with the body's movement or cause the body to move passively. The body's pose transformation is directly related to the target pose transformation of the movable chassis. Specifically, the body's pose transformation needs to be processed and transformed into a pose transformation that can be directly applied to the movable chassis. This application does not limit the specific processing and transformation algorithms and methods for the body's pose transformation, including but not limited to parameter mapping and parameter transformation.

[0047] In one possible embodiment, the method further includes: if the relative pose has not changed, calculating the target chassis pose of the movable chassis based on the hand pose information and the body pose information; generating a second control command based on the target chassis pose, the second control command being used to control the movable chassis.

[0048] It is evident that regardless of whether the relative pose of the hand to the body changes, the target pose transformation of the movable chassis is calculated based on the body's pose transformation, thus obtaining the target chassis pose and generating control commands to move the chassis towards the target pose. The main reason is that the hand controls the movement of the robotic arm, while the body controls the movement of the chassis. The hand does not affect the body's movement and does not cause passive body movement; therefore, all body pose transformations are active transformations. However, the hand's movement is influenced by the body; for example, body movement can cause passive hand movement, resulting in pose transformations. Therefore, the remote manipulation of the robotic arm by the hand is more complex. It requires considering whether the hand is actively moving, calculating the relative pose, and isolating the hand's active pose transformation to control the robotic arm's pose transformation. This achieves decoupling control between the robotic arm and the chassis, improving the stability and operational accuracy of the robot's overall control.

[0049] Step S240: Calculate the target robot pose based on the active pose transformation amount.

[0050] In one possible embodiment, calculating the target robot arm pose based on the active pose transformation includes: Calculate the first target pose transformation amount generated by the robotic arm following the hand movement at the next moment based on the active pose transformation amount; obtain the first robotic arm pose at the current moment; determine the target robotic arm pose based on the first robotic arm pose and the first target pose transformation amount.

[0051] Understandably, the robotic arm only follows the active pose change of the hand when the hand moves relative to the body. This avoids the robotic arm from making invalid movements as the body moves, or the chassis from moving unexpectedly due to hand operation.

[0052] Specifically, it is necessary to process and convert the active pose transformation of the hand into a pose transformation that can be directly applied to the robotic arm. This application does not limit the specific processing and conversion algorithms and methods for the active pose transformation of the hand, including but not limited to parameter mapping and parameter conversion.

[0053] As can be seen, in this embodiment, by converting the active pose change of the hand into the first target pose change of the robotic arm, and calculating the target robotic arm pose in combination with the current robotic arm pose, the robotic arm only follows the action when the hand actively moves relative to the body. This not only accurately replicates the active operation of the operator's hand, but also avoids the robotic arm from making invalid movements as the body moves. This achieves decoupled control between the robotic arm and the movable chassis, improving the accuracy and rationality of robot operation.

[0054] Step S250: Generate a first control command and a second control command based on the target robotic arm pose and the target chassis pose, respectively.

[0055] The first control command is used to control the robotic arm, and the second control command is used to control the movable chassis.

[0056] Specifically, for example, based on the structural parameters of the robotic arm (such as the number of joints, link length, and range of motion), the target robotic arm pose (the spatial coordinates and attitude angles of the end effector) is decomposed into the target angles of each joint using an inverse kinematics algorithm (for example, the rotation angles of 6 joints need to be calculated for a 6-axis robotic arm), ensuring that the end effector can accurately reach the target pose. Combining the dynamic characteristics of the robotic arm (such as joint speed and acceleration limits), the motion trajectory of each joint from the current angle to the target angle is planned (such as a smooth S-curve) to avoid motion jamming or overshoot. Then, the planned joint angles, speeds, and other parameters are converted into drive signals (such as pulse signals and current signals) to form the first control command, which drives the motors of each joint of the robotic arm to move along the preset trajectory, ultimately enabling the end effector to reach the target robotic arm pose.

[0057] Specifically, for example, the target chassis pose is converted into chassis motion parameters according to the chassis motion type; combined with the chassis dynamic characteristics, the target speed of the drive wheels is calculated to ensure that the chassis moves smoothly from the current pose to the target chassis pose, avoiding slippage or deviation; the target speed is converted into a motor drive signal (such as a PWM signal) to form a second control command, which controls the rotation direction and speed of the chassis motor, so that the chassis accurately reaches the target position and adjusts to the target posture.

[0058] As can be seen, in this embodiment, the decoupled control of the robotic arm and the chassis is achieved by combining the relative posture judgment of the hand and the body. This solves the problem of the disconnect between the control of the robotic arm and the chassis in the traditional solution, and avoids the uncertainty of chassis movement caused by the high coupling between the two, thereby improving the stability and operation accuracy of the robot's whole-body control.

[0059] Please see Figure 3 , Figure 3 This is a schematic diagram illustrating the steps for determining active hand pose variables according to an embodiment of this application. The method for calculating the active pose change of the hand relative to the body based on hand pose information and body pose information includes the following steps: Step S310: Determine the total pose change of the hand and the non-active pose change of the hand due to body movement based on the hand pose information and body pose information.

[0060] The total pose change of the hand refers to all the actual pose changes that occur in the hand in space. It is the difference between the hand pose at the previous moment and the hand pose at the current moment, calculated based on the hand pose information. It includes the actions generated by the operator's active control of the hand (such as raising the hand or extending the arm) and the actions that are passively followed by the movement of the body (such as the body moving forward and the hand moving forward synchronously). It is the overall manifestation of hand movement.

[0061] Among them, the inactive pose change of the hand caused by body movement is the passive following part of the total pose change of the hand caused by body movement. That is, when the body moves, the pose change of the hand is caused by the physical relationship between the hand and the body. It is calculated based on body pose information and obtained by mapping the pose change of the body. For example, if the body moves forward by 50mm, the 50mm forward movement of the hand due to the synchronous movement of the body belongs to the inactive pose change.

[0062] In one possible embodiment, determining the total pose change of the hand and the involuntary pose change of the hand due to body movement based on the hand pose information and body pose information includes: determining the first hand pose and the first body pose of the hand at a previous moment based on the hand pose information and the body pose information, and determining the second hand pose and the second body pose of the hand at the current moment; determining the total pose change of the hand based on the first hand pose and the second hand pose; determining the pose change of the body based on the first body pose and the second body pose; and determining the involuntary pose change of the hand due to body movement based on the pose change of the body.

[0063] For example, taking the aforementioned coordinate system (X-axis forward, Y-axis to the right, Z-axis upward, attitude angles α / β / γ) as an example, at the previous moment T0, the first hand position pose Th0 = (Xh0 = 200mm, Yh0 = 150mm, Zh0 = 1200mm, αh0 = 5°, βh0 = 3°, γh0 = 0°), and the first body position pose Tb0 = (Xb0 = 0mm, Yb0 = 0mm, Zb0 = 1000mm, αb0 = 0°, βh0 = 3°, γh0 = 0°), αb0 = 0°, βh0 = 150mm, Zb0 = 1200mm, βh0 = 1200mm, αh0 = 5°, βh0 = 3°, γh0 = 0°), βh0 = 1200mm, ... 0=0°, βb0=0°, γb0=0°); and at the current time T1, the second hand position Th0=(Xh1=230mm, Yh1=150mm, Zh1=1250mm, αh1=7°, βh1=3°, γh1=0°), and the second body position Tb1=(Xb1=10mm, Yb1=0mm, Zb1=1000mm, αb1=0°, βb1=0°, γb1=0°). Furthermore, the total pose change of the hand, ΔTh = Th1 - Th0 = (30mm, 0mm, 50mm, 0°, 0°, 0°), represents a 30mm forward movement along the X-axis, a 50mm upward movement along the Z-axis, and a 2° increase in pitch angle. The inactive pose change of the hand due to body movement, ΔTb = Tb1 - Tb0 = (10mm, 0mm, 0mm, 0°, 0°, 0°), represents a 10mm forward movement along the X-axis with no change in posture. Therefore, the total pose change of the hand is not equal to the inactive pose change caused by body movement, indicating that there is an active pose change resulting from active displacement of the hand.

[0064] As can be seen, in this embodiment, by comparing the hand pose and body pose of the previous moment with the current moment, the total pose change of the hand, including active and passive movements, as well as the non-active pose change of the hand caused only by body movement, can be accurately calculated. This is beneficial to achieve effective separation of active hand movements and passive following movements, providing accurate data support for the subsequent extraction of active hand pose change, ensuring that the robotic arm only responds to the operator's active hand movements, avoiding invalid movements caused by body movement, and further improving the accuracy and reliability of robot control.

[0065] Step S320: Determine the active pose change of the hand relative to the body based on the total pose change and the non-active pose change.

[0066] Among them, the active posture change of the hand relative to the body refers to the change in posture of the hand relative to the body caused by the operator's active control, which directly reflects the operator's control intention, such as actively raising the hand, extending the arm, rotating the wrist, etc.

[0067] In one possible embodiment, determining the active pose change of the hand relative to the body based on the total pose change and the inactive pose change includes: separating the inactive pose change from the total pose change to obtain the active pose change of the hand relative to the body.

[0068] For example, in conjunction with the above example, the inactive pose change amount ΔTb=(10mm,0mm,0mm,0°,0°,0°) is separated from the total pose change amount ΔTh=(30mm,0mm,50mm,0°,0°,0°) to obtain the active pose change amount ΔTh_active=ΔTh-ΔTb=(20mm,0mm,50mm,2°,0°,0°) of the hand relative to the body. This represents that the hand actively moved forward by 20mm and raised by 50mm relative to the body, and the pitch angle actively increased by 2°. These actions are all generated by the operator's active control and are unrelated to the body movement.

[0069] It should be noted that the above example only provides one way to separate the non-active pose transformation from the total pose transformation. It does not limit the specific algorithm and calculation method. It can also be calculated by matrix transformation and other methods. Furthermore, the pose and pose transformation can be represented in various forms such as matrices. There are no restrictions here.

[0070] As can be seen, in this embodiment, by accurately calculating the total and non-active pose transformations of the hand, and then stripping away the passive components, the active pose transformations that reflect the operator's true control intentions are extracted. This not only achieves effective separation of active and passive hand movements, ensuring that the robotic arm only responds to active operations to avoid invalid actions, but also improves the scenario applicability of the solution by adapting to multiple calculation methods. It provides accurate and flexible core data support for the decoupled collaborative control of the robot's "hand-body", further enhancing the accuracy and reliability of the control.

[0071] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating another step in determining the active pose variable of the hand according to an embodiment of this application. In calculating the active pose change of the hand relative to the body based on hand pose information and body pose information, the above method may further include the following steps: Step S410: Determine the first relative pose of the hand relative to the body at the previous moment, and determine the second relative pose of the hand relative to the body at the current moment.

[0072] It is understandable that relative pose is essentially "absolute hand pose - absolute body pose," which naturally eliminates the passive influence of body movement on the hand, reflecting only the position and posture relationship of the hand relative to the body. Therefore, in addition to the method mentioned above of removing non-active pose changes from the total hand pose change to obtain the active hand pose change, the active hand pose change can also be calculated directly based on the relative poses.

[0073] Step S420: Determine the active pose change amount of the hand relative to the body based on the relative pose difference between the first relative pose and the second relative pose.

[0074] Since the relative pose has been stripped of the interference of passive body movement, the difference between the first and second relative poses (relative pose difference) is the pose change caused by the active movement of the hand relative to the body. There is no need to separate the passive component, and it can be directly used as the active pose change quantity.

[0075] For example, in conjunction with the above example, the first relative pose Tr0 = (200mm, 150mm, 200mm, 5°, 3°, 0°), the second relative pose Tr1 = (220mm, 150mm, 250mm, 7°, 3°, 0°), and the relative pose difference ΔTr = Tr1 - Tr0 = (ΔXr = 20mm, ΔYr = 0mm, ΔZr = 50mm, Δαr = 2°, Δβr = 0°, Δγr = 0°) are obtained. That is, the active pose change of the hand relative to the body is ΔTh_active = ΔTr = (ΔXr = 20mm, ΔYr = 0mm, ΔZr = 50mm, Δαr = 2°, Δβr = 0°, Δγr = 0°), which represents that the hand actively moves forward by 20mm and upward by 50mm relative to the body, and the pitch angle increases by 2°.

[0076] It is understandable that the core of calculating the active pose change of the hand relative to the body is to remove the non-active pose change from the total pose change of the hand. As for how to perform the removal calculation, there are multiple ways. Calculating the difference between the total pose and the non-active pose, or calculating the relative pose difference, are all possible ways to achieve the core "removal" operation. Other reasonable methods and steps to achieve the above-mentioned "removal" concept should fall within the protection scope of this application.

[0077] As can be seen, in this embodiment, the decoupled control of the robotic arm and the chassis is achieved by combining the relative posture judgment of the hand and the body. This solves the problem of the disconnect between the control of the robotic arm and the chassis in the traditional solution, and avoids the uncertainty of chassis movement caused by the high coupling between the two, thereby improving the stability and operation accuracy of the robot's whole-body control.

[0078] The following is combined with Figures 5-7This paper analyzes various scenarios for robot motion control to illustrate the robot control scheme provided in this application.

[0079] Please see Figure 5 , Figure 5 This application provides a schematic diagram of a robot motion control scenario at a current moment, as shown in the embodiments of this application. Figure 5 As shown, in the current scenario, the operator wears a first positioning device on their hand and a second positioning device on their waist to control the robot. The robot includes a robotic arm and a movable chassis. In the figure, the solid lines represent the current motion state of the operator and the robot, while the dashed lines represent the target motion state of the operator and the robot in the next moment.

[0080] As can be seen, the operator's body remains still, and in the next moment, they only actively wave their arm. At this time, the first positioning device captures the change in hand pose. Since the body pose remains unchanged (the non-active pose change is zero), the total pose change of the hand is equal to the active pose change. Therefore, in the next moment, the robot's movable chassis, linked to the body pose change, remains stationary, and the robotic arm accurately follows the operator's actively waving arm. The target pose of the robotic arm is linked to the active pose change of the hand, achieving direct and accurate replication of the operator's active hand movements. This demonstrates the effectiveness of this application in scenarios where only the robotic arm needs to respond to the active hand movements, ensuring that the operational intent can be efficiently transmitted to the robotic arm.

[0081] Further, please refer to Figure 6 , Figure 6 This application provides another schematic diagram of a robot motion control scenario at the current moment, as shown in the embodiment of the present application. Figure 6 As shown, in the current scenario, the operator wears a first positioning device on their hand and a second positioning device on their waist to control the robot. The robot includes a robotic arm and a movable chassis. In the figure, the solid lines represent the current motion state of the operator and the robot, while the dashed lines represent the target motion state of the operator and the robot in the next moment.

[0082] As can be seen, in the next instant, the operator's body moves, and the arm moves synchronously with the body, with no relative movement between the arm and the body. At this time, the non-active pose change of the hand equals the total pose change (because there is no active movement, the active pose change is zero). Based on the robot control method provided in this application, the robot chassis moves with the body, while the robotic arm remains stationary relative to the chassis. This is because the hand has no active pose change, and the robotic arm does not need to make additional active movement adjustments; it only needs to follow the chassis. This perfectly adapts to scenarios where only the body moves and the hand has no active operation, ensuring the synchronization between the robot's overall movement and the body's movement.

[0083] Further, please refer to Figure 7 , Figure 7 This is another schematic diagram of a robot motion control scenario at the current moment provided in the embodiments of this application, such as... Figure 7 As shown, in the current scenario, the operator wears a first positioning device on their hand and a second positioning device on their waist to control the robot. The robot includes a robotic arm and a movable chassis. In the figure, the solid lines represent the current motion state of the operator and the robot, while the dashed lines represent the target motion state of the operator and the robot in the next moment.

[0084] As can be seen, in the next instant, the operator moves their body and simultaneously swings their arm, resulting in relative motion between the arm and body. At this point, the total hand pose change includes both the inactive pose change caused by body movement and the active pose change caused by the active arm swing. Based on the robot control method provided in this application, the robot chassis moves with the body, and the robotic arm also moves relative to the chassis according to the active pose change, thereby achieving coordinated movement between the chassis and the robotic arm. This not only follows body movement but also accurately reproduces the active arm swing, fully demonstrating the adaptability of the solution in complex scenarios involving "body movement and active hand operation." It can accurately separate and respond to active and passive actions, making the robot's motion control more aligned with the operator's overall operational intent.

[0085] As can be seen, in this embodiment, Figures 5 to 7 The application demonstrates three typical scenarios: "only active hand movements", "only body movements", and "body movements and active hand movements". In these scenarios, the application can accurately distinguish between active hand pose changes and inactive pose changes caused by body movements. This allows the robot to follow the active hand movements and the chassis to follow the body movements, and the chassis and robotic arm to respond in concert to body movements and active hand movements, adapting to a variety of operating scenarios. It achieves precise decoupling and collaborative control of the operator's "hand-body" movements, significantly improving the flexibility, accuracy and scenario adaptability of robot motion control.

[0086] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, mobile electronic devices include corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0087] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0088] Please see Figure 8 , Figure 8 A functional module block diagram of a robot control system provided in this application embodiment is shown below. Figure 8 As shown, the robot control system 100 includes the following units: The acquisition unit 810 is used to acquire hand pose information based on the first positioning device and body pose information based on the second positioning device. The processing unit 820 is configured to determine whether the relative pose of the hand relative to the body has changed based on the hand pose information and the body pose information; if the relative pose has changed, it calculates the active pose transformation amount of the hand relative to the body based on the hand pose information and the body pose information, and calculates the target chassis pose of the movable chassis based on the hand pose information and the body pose information; calculates the target robotic arm pose of the robotic arm based on the active pose transformation amount; and generates a first control command and a second control command based on the target robotic arm pose and the target chassis pose, respectively, wherein the first control command is used to control the robotic arm and the second control command is used to control the movable chassis.

[0089] As can be seen, in this embodiment, by using a body locator to control the movable chassis and a hand locator to control the robotic arm, and combining the relative pose judgment of the hand and body to achieve decoupled control of the two, it not only solves the sense of separation between the control of the robotic arm and the chassis in the traditional solution, but also avoids the uncertainty of chassis movement caused by the high coupling between the two, thereby improving the stability and operational accuracy of the robot's whole-body control.

[0090] In one embodiment, determining whether the relative pose of the hand relative to the body has changed based on the hand pose information and the body pose information includes: determining a first relative pose of the hand relative to the body at a previous moment and determining a second relative pose of the hand relative to the body at the current moment based on the hand pose information and the body pose information; and determining whether the relative pose of the hand relative to the body has changed based on the relationship between the relative pose difference between the first relative pose and the second relative pose and a preset threshold.

[0091] In one embodiment, calculating the active pose change of the hand relative to the body based on the hand pose information and the body pose information includes: determining the total pose change of the hand and the inactive pose change of the hand due to body movement based on the hand pose information and the body pose information; and determining the active pose change of the hand relative to the body based on the total pose change and the inactive pose change.

[0092] In one embodiment, determining the total pose change of the hand and the involuntary pose change of the hand due to body movement based on the hand pose information and the body pose information includes: determining a first hand pose of the hand and a first body pose of the body at a previous moment based on the hand pose information and the body pose information; determining a second hand pose of the hand and a second body pose of the body at the current moment based on the second hand pose and the first hand pose and the second body pose; determining the total pose change of the hand based on the first hand pose and the second hand pose; determining the pose change of the body based on the first body pose and the second body pose; and determining the involuntary pose change of the hand due to body movement based on the pose change of the body.

[0093] In one embodiment, determining the active pose change of the hand relative to the body based on the total pose change and the inactive pose change includes: separating the inactive pose change from the total pose change to obtain the active pose change of the hand relative to the body.

[0094] In one embodiment, the method further includes: determining an active pose change amount of the hand relative to the body based on the relative pose difference between the first relative pose and the second relative pose.

[0095] In one embodiment, calculating the target pose of the robotic arm based on the active pose transformation amount includes: calculating a first target pose transformation amount generated by the robotic arm following the hand movement at the next moment based on the active pose transformation amount; obtaining the first pose of the robotic arm at the current moment; and determining the target pose of the robotic arm based on the first pose and the first target pose transformation amount.

[0096] In one embodiment, the method further includes: if the relative pose has not changed, calculating the target chassis pose of the movable chassis based on the hand pose information and the body pose information; generating a second control command based on the target chassis pose, the second control command being used to control the movable chassis.

[0097] Figure 9 This is a structural block diagram of a robot control device provided in an embodiment of this application. For example... Figure 9 As shown, the robot control device 900 may include one or more of the following components: a processor 901 and a memory 902 coupled to the processor 901, wherein the memory 902 may store one or more computer programs, which may be configured to implement the methods described in the examples above when executed by one or more processors 901.

[0098] Processor 901 may include one or more processing cores. Processor 901 connects to various parts within the robot control device 900 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 902, and by calling data stored in memory 902. Optionally, processor 901 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 901 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. It is understood that the aforementioned modem may also not be integrated into processor 901, but implemented separately through a communication chip.

[0099] The memory 902 may include random access memory (RAM) or read-only memory (ROM). The memory 902 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 902 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method examples described above. The data storage area may also store data created during the use of the robot control device 900.

[0100] It is understood that the robot control device 900 may include more or fewer structural elements than those shown in the above block diagram, such as power modules, physical buttons, WiFi (Wireless Fidelity) modules, speakers, Bluetooth modules, sensors, etc., without limitation.

[0101] This application also provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements some or all of the steps of any of the methods described in the above method embodiments.

[0102] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0103] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0105] 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.

[0106] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0107] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM), etc., which are various media that can store program code.

[0108] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A robot control method, characterized in that, An application is made in a robot control system, the robot control system comprising a robot body and a positioning device, the robot comprising a movable chassis and a robotic arm, the positioning device comprising at least one set of first positioning devices for acquiring hand position information and at least one set of second positioning devices for acquiring body position information; the method comprising: Hand pose information is obtained based on the first positioning device, and body pose information is obtained based on the second positioning device. Determine whether the relative position of the hand with respect to the body has changed based on the hand position information and the body position information; If the relative pose changes, the active pose change of the hand relative to the body is calculated based on the hand pose information and the body pose information, and the target chassis pose of the movable chassis is calculated based on the hand pose information and the body pose information. The target pose of the robotic arm is calculated based on the active pose transformation amount. A first control command and a second control command are generated based on the pose of the target robotic arm and the pose of the target chassis, respectively. The first control command is used to control the robotic arm, and the second control command is used to control the movable chassis.

2. The method according to claim 1, characterized in that, Determining whether the relative position of the hand with respect to the body has changed based on the hand position information and the body position information includes: Based on the hand pose information and the body pose information, determine the first relative pose of the hand relative to the body at the previous moment, and determine the second relative pose of the hand relative to the body at the current moment; Based on the relationship between the relative pose difference between the first and second relative poses and a preset threshold, it is determined whether the relative pose of the hand relative to the body has changed.

3. The method according to claim 2, characterized in that, The step of calculating the active pose change of the hand relative to the body based on the hand pose information and the body pose information includes: The total pose change of the hand and the non-active pose change of the hand due to the movement of the body are determined based on the hand pose information and the body pose information. The active pose change of the hand relative to the body is determined based on the total pose change and the inactive pose change.

4. The method according to claim 3, characterized in that, The step of determining the total pose change of the hand and the non-active pose change of the hand due to body movement based on the hand pose information and the body pose information includes: Based on the hand position information and the body position information, determine the first hand position of the hand and the first body position of the body at the previous moment, and determine the second hand position of the hand and the second body position of the body at the current moment; The total pose change of the hand is determined based on the first hand position pose and the second hand position pose; The pose change amount of the body is determined based on the first body pose and the second body pose; and the non-active pose change amount of the hand caused by the movement of the body is determined based on the pose change amount of the body.

5. The method according to claim 3, characterized in that, Determining the active pose change of the hand relative to the body based on the total pose change and the inactive pose change includes: The inactive pose transformation amount is separated from the total pose transformation amount to obtain the active pose transformation amount of the hand relative to the body.

6. The method according to claim 3, characterized in that, The method further includes: The active pose change amount of the hand relative to the body is determined based on the pose difference between the first relative pose and the second relative pose.

7. The method according to claim 1, characterized in that, The step of calculating the target pose of the robotic arm based on the active pose transformation includes: The first target pose change amount generated by the robotic arm following the hand movement at the next moment is calculated based on the active pose change amount; Obtain the first robotic arm pose at the current moment; The target robotic arm pose is determined based on the first robotic arm pose and the first target pose transformation amount.

8. The method according to claim 4, characterized in that, The step of calculating the target chassis pose of the movable chassis based on the hand pose information and the body pose information includes: Calculate the second target pose change amount generated by the movable chassis following the movement of the body at the next moment based on the pose change amount of the body; Obtain the first chassis pose of the movable chassis at the current moment; The target chassis pose of the movable chassis is determined based on the first chassis pose and the second target pose transformation amount.

9. The method according to claim 1, characterized in that, The method further includes: If the relative pose does not change, the target chassis pose of the movable chassis is calculated based on the hand pose information and the body pose information. The second control command is generated based on the target chassis pose, and the second control command is used to control the movable chassis.

10. A robot control system, characterized in that, The robot control system includes a robot body and a positioning device. The robot includes a movable chassis and a robotic arm. The positioning device includes at least one set of first positioning devices for acquiring hand position information and at least one set of second positioning devices for acquiring body position information. The system is used to perform the steps of implementing the method according to any one of claims 1-9.

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