Mechanical arm control method and device, equipment, storage medium and program product
By calculating the position deviation in the robotic arm control system and reducing the speed setpoint when the deviation is less than a threshold, the overload alarm problem caused by the position deviation of the robotic arm is solved, thus improving work efficiency.
Patent Information
- Application Number
- CN202410636050.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-21
- Publication Date
- 2025-11-21
AI Technical Summary
When the load is large, the robotic arm will frequently trigger overload alarms due to positional deviation, which will affect work efficiency.
By acquiring the position setpoint and feedback value, the position deviation value is calculated, and the speed setpoint value is reduced when the deviation is less than the threshold and the position setpoint value is continuously the same, so as to avoid excessive increase in current output.
This reduced the frequency of overload alarms on the robotic arm and improved work efficiency.
Smart Images
Figure CN120985625A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of robotic arm technology, and in particular to a control method, device, equipment, storage medium, and program product for a robotic arm. Background Technology
[0002] Robotic arms are often used in factory assembly lines for assembly or transportation operations, thereby saving labor and improving production efficiency.
[0003] Typically, the control method for a robotic arm is as follows: input the position setpoint and position feedback value into the position regulator to obtain the speed setpoint, then input the speed setpoint and speed feedback value into the speed regulator to obtain the current setpoint, input the current setpoint and current feedback value into the current regulator to obtain the current output value, and then control the robotic arm's motor to work with this current output value.
[0004] During the use of a robotic arm, the gain of its position and speed regulators is often set high to enable it to move larger loads. However, with high gain, the robotic arm may not be able to accurately reach the target position and instead remain in a nearby location. In this case, due to the positional deviation, the current output value keeps increasing. But because of the large load and the significant static friction of the motor's mechanical shaft, the robotic arm remains in a nearby location even as the current output value continues to increase, creating a vicious cycle. The current output value will eventually exceed the motor's rated current, triggering an overload alarm and stopping the robotic arm, thus reducing its working efficiency. Summary of the Invention
[0005] This disclosure provides a control method for a robotic arm that can avoid frequent overload alarms and reduce the impact on the robotic arm's working efficiency. The technical solution is as follows:
[0006] Firstly, a method for controlling a robotic arm is provided, the method comprising:
[0007] Acquire and store the given location value and the location feedback value;
[0008] Based on the given position value and the feedback position value, the position deviation value is determined;
[0009] The speed setpoint is determined based on the position deviation value;
[0010] If the absolute value of the position deviation is less than the position deviation threshold, and the preset number of consecutive position given values are the same, then the speed given value is reduced to obtain a reduced speed given value. Based on the reduced speed given value and the speed feedback value, the current given value is determined.
[0011] Based on the given current value, the motor in the robotic arm is controlled to operate.
[0012] In one possible implementation, the step of devaluing the speed setpoint to obtain a devalued speed setpoint includes:
[0013] The first adjustment value is obtained by multiplying the previously determined speed setpoint with the proportional coefficient, wherein the proportional coefficient ranges from (0,1).
[0014] Based on the first adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint.
[0015] In one possible implementation, the step of reducing the speed setpoint based on the first adjustment value to obtain the reduced speed setpoint includes:
[0016] If the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value, then the difference between the speed setpoint and the first adjustment value is calculated to obtain the speed setpoint after the reduction process.
[0017] If the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value, then the speed setpoint is reduced to 0 to obtain the reduced speed setpoint.
[0018] In one possible implementation, the step of devaluing the speed setpoint to obtain a devalued speed setpoint includes:
[0019] Based on the second adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint, wherein the second adjustment value is determined based on the position deviation threshold.
[0020] In one possible implementation, before controlling the motor in the robotic arm to operate based on the given current value, the method further includes:
[0021] If the absolute value of the position deviation is not less than the position deviation threshold or if the preset number of consecutively acquired position values are not the same, then the current value is determined based on the speed value and the speed feedback value.
[0022] In one possible implementation, the preset number is in the range of [2, 5].
[0023] Secondly, a control device for a robotic arm is provided, the device comprising:
[0024] The acquisition module is used to acquire and store the given location value and the location feedback value;
[0025] The first determining module is used to determine the position deviation value based on the given position value and the position feedback value;
[0026] The second determining module is used to determine the speed setpoint based on the position deviation value;
[0027] The third determining module is used to perform a devaluation process on the speed given value if the absolute value of the position deviation value is less than the position deviation threshold and the preset number of consecutively obtained position given values are the same, to obtain a devalued speed given value, and to determine the current given value based on the devalued speed given value and the speed feedback value.
[0028] The control module is used to control the motor in the robotic arm to operate based on the given current value.
[0029] In one possible implementation, the third determining module is configured to:
[0030] The first adjustment value is obtained by multiplying the previously determined speed setpoint with the proportional coefficient, wherein the proportional coefficient ranges from (0,1).
[0031] Based on the first adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint.
[0032] In one possible implementation, the third determining module is configured to:
[0033] If the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value, then the difference between the speed setpoint and the first adjustment value is calculated to obtain the speed setpoint after the reduction process.
[0034] If the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value, then the speed setpoint is reduced to 0 to obtain the reduced speed setpoint.
[0035] In one possible implementation, the third determining module is configured to:
[0036] Based on the second adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint, wherein the second adjustment value is determined based on the position deviation threshold.
[0037] In one possible implementation, the third determining module is further configured to:
[0038] If the absolute value of the position deviation is not less than the position deviation threshold or if the preset number of consecutively acquired position values are not the same, then the current value is determined based on the speed value and the speed feedback value.
[0039] In one possible implementation, the preset number is in the range of [2, 5].
[0040] Thirdly, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, the instruction being loaded and executed by the processor to implement the operation performed by the control method of the robotic arm.
[0041] Fourthly, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, the instruction being loaded and executed by a processor to implement the operation performed by the control method of the robotic arm.
[0042] Fifthly, a computer program product is provided, the computer program product including at least one instruction, the at least one instruction being loaded and executed by a processor to implement the operation performed by the control method of the robotic arm.
[0043] The beneficial effects of the technical solution provided by the embodiments of this disclosure are as follows: If the absolute value of the position deviation value is less than the position deviation threshold and the preset number of consecutive position given values are the same, it indicates that the robotic arm has not moved to the target position, but is staying at a nearby position close to the target position. At this time, the obtained speed given value can be reduced to reduce the speed given value or even reduce it to zero, so as to avoid the current output value from suddenly increasing to exceed the rated current of the motor, thereby causing frequent overload alarms and reducing the impact on the working efficiency of the robotic arm. Attached Figure Description
[0044] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0045] Figure 1 This is a structural block diagram of a robotic arm control system provided in an embodiment of this disclosure;
[0046] Figure 2 This is a flowchart of a control method for a robotic arm provided in an embodiment of this disclosure;
[0047] Figure 3 This is a flowchart of a control method for a robotic arm provided in an embodiment of this disclosure;
[0048] Figure 4 This is a flowchart of a method for determining a speed setpoint after degradation processing, provided by an embodiment of this disclosure;
[0049] Figure 5 This is a schematic diagram of the structure of a control device for a robotic arm provided in an embodiment of this disclosure. Detailed Implementation
[0050] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.
[0051] This disclosure provides a control method for a robotic arm, which can be applied to a robotic arm control system. (See also...) Figure 1 The robotic arm control system includes a controller, a position regulator, a speed regulator, a current regulator, a robotic arm, and a load. The robotic arm can send current working data (e.g., position feedback values and speed feedback values) to the controller, position regulator, speed regulator, and current regulator. The controller, position regulator, speed regulator, and current regulator can process the working data to determine the next operation of the robotic arm, thereby realizing the control of the robotic arm so that it can drive the load to move.
[0052] The position regulator can be a P-controller (proportional controller), the speed regulator and the current regulator can be a PI-controller (proportional integral controller), etc. Of course, the position regulator, speed regulator and current regulator can also be other reasonable devices, and this disclosure does not specifically limit them.
[0053] Figure 2 and Figure 3 This is a flowchart illustrating a control method for a robotic arm according to an embodiment of this disclosure. See also... Figure 2 and Figure 3 This embodiment includes:
[0054] 201. Obtain and store the given location value and the location feedback value.
[0055] In practice, the controller can periodically update and adjust the position setpoint of the robotic arm based on preset rules, and send the position setpoint to the position adjuster.
[0056] In this embodiment of the disclosure, the position setpoint can be the change in position of the target position of the robotic arm relative to the preset initial position, or it can be the change in angle of the mechanical axis of the motor in the robotic arm during the process of the robotic arm moving from the initial position to the target position.
[0057] The robotic arm can periodically send position feedback values to the position adjuster, or the robotic arm can periodically send position feedback values to the controller, which then sends the position feedback values to the position adjuster.
[0058] In this embodiment of the disclosure, the position feedback value can be the change in position of the robotic arm during each cycle, or it can be described as the change in angle of the mechanical axis of the motor in the robotic arm during each cycle.
[0059] 202. Determine the position deviation value based on the given position value and the position feedback value.
[0060] In practice, the position adjuster can start acquiring and storing the position feedback values sent by the robotic arm in each cycle after the robotic arm starts. Each time a new position feedback value is received, it is accumulated with the previously received position feedback value. By accumulating multiple position feedback values, the current position of the robotic arm can be obtained. This current position can be the change in position relative to the initial position.
[0061] Then, the difference between the given position value and the current position can be calculated to obtain the position deviation value. This position deviation value is used to indicate the amount of deviation between the current position of the robotic arm and the given position value. Therefore, as long as the position deviation value is not zero, it means that the robotic arm has not moved to the target position.
[0062] Of course, the method of calculating the position deviation value based on the position setpoint and position feedback value can also be any other reasonable method. For example, the position deviation value calculated in each cycle can be stored. When calculating the position deviation value of the current cycle, the position of the robot arm in the previous cycle can be calculated by using the position setpoint obtained in the previous cycle and the calculated position deviation value. Then, based on the position of the robot arm in the previous cycle and the position feedback value received in the current cycle, the current position of the robot arm can be calculated. Finally, the difference between the position setpoint received in the current cycle and the current position can be calculated to obtain the position deviation value.
[0063] 203. Determine the speed setpoint based on the position deviation value.
[0064] In practice, after calculating the position deviation value, the position adjuster can multiply the position deviation value with the preset gain in the position adjuster to obtain the speed setpoint value, which is used to indicate the moving speed of the robotic arm during the process of moving from the current position to the target position.
[0065] Of course, the method for calculating the speed setpoint based on the position deviation value can be any other reasonable method, and this disclosure does not specifically limit it.
[0066] 204. If the absolute value of the position deviation is less than the position deviation threshold, and the preset number of consecutive position setpoints are the same, then the speed setpoint is reduced to obtain the reduced speed setpoint. Based on the reduced speed setpoint and the speed feedback value, the current setpoint is determined.
[0067] In practice, if the absolute value of the position deviation is less than the position deviation threshold, it indicates that the current position of the robotic arm is close to the target position.
[0068] If the preset number of position values obtained consecutively are the same, it means that the target position of the robotic arm does not change within the preset number of cycles, but the robotic arm does not reach the target position within these preset number of cycles.
[0069] Therefore, if the controller determines that the absolute value of the position deviation is less than the position deviation threshold and the preset number of consecutive position setpoints are the same, it means that the robotic arm can no longer reach the target position under the static friction of the load and the mechanical shaft of the motor. At this time, the speed setpoint can be reduced to obtain the reduced speed setpoint.
[0070] Reducing the speed setpoint is equivalent to reducing the position deviation, thus mitigating the tendency for the motor's operating current to increase due to this deviation. This stabilizes the motor's operating current within a certain range, preventing a sudden surge to above the rated current and triggering an overload alarm. After one or several cycles, the speed setpoint can be reduced to 0. When the reduced speed setpoint is 0, it's equivalent to a 0% position deviation. At this point, the motor's operating current will not increase further or will increase only slightly, ensuring it doesn't exceed its rated current or slowing down the rate at which it exceeds the rated current. This prevents the robotic arm from triggering overload alarms or experiencing frequent overload alarms, reducing the adverse impact on the robotic arm's working efficiency.
[0071] After determining the speed setpoint after the degradation process, the current setpoint can be determined based on the speed setpoint after the degradation process. The determination method can be as follows: input the speed setpoint after the degradation process into the speed regulator. The speed regulator calculates the current setpoint based on the speed setpoint after the degradation process and the speed feedback value sent by the robotic arm or controller. The speed feedback value can be the data obtained after differentiating the position feedback value. The differentiating process can be performed in the controller or in the speed regulator. This disclosure does not specifically limit the specific implementation of the embodiment.
[0072] In this embodiment of the disclosure, the position deviation threshold can be set after comprehensively considering factors such as the size of the robotic arm, the distance between the target position and the initial position, and the accuracy requirements of the robotic arm.
[0073] For example, when the robotic arm is large, the distance between the target position and the initial position is large, and the precision requirement for the robotic arm is high, the position deviation threshold can be set to a relatively small value. For example, the position deviation threshold can be set within the range of [0.1 degrees, 0.3 degrees]. When the position deviation threshold is within this range, the current position of the robotic arm is closer to the target position, and when the distance between the current position and the target position is within this position deviation threshold range, overload alarms will not occur, or overload alarms will not occur frequently within this range. It can be understood that the unit "degree" in the value range refers to the angle of rotation of the motor's mechanical shaft.
[0074] For example, when the size of the robotic arm is small, the distance between the target position and the initial position is small, and the accuracy requirement of the robotic arm is low, the position deviation threshold can be set to a relatively large value. For example, the value range of the position deviation threshold can be [0.2 degrees, 0.5 degrees]. Similarly, when the position deviation threshold is within this range, the distance between the current position and the target position of the robotic arm can be an acceptable deviation. When the distance between the current position and the target position of the robotic arm is within the position deviation threshold range, overload alarms will not occur or will not occur frequently within the position deviation threshold range.
[0075] Of course, the position deviation threshold can also be other reasonable values, and this disclosure does not specifically limit it.
[0076] In this embodiment of the disclosure, the preset number can be in the range of [2, 5].
[0077] For example, when the preset number is 2, in step 204, if the absolute value of the position deviation is less than the position deviation threshold and the position given value obtained this time is the same as the position given value obtained in the previous cycle, the speed given value will be reduced.
[0078] For example, when the preset number is 5, in step 204, the speed setpoint will be reduced only when the absolute value of the position deviation is less than the position deviation threshold and the position setpoints obtained in five consecutive times remain unchanged.
[0079] As can be seen from the above, when the preset number is relatively small, the controller will respond to this overload situation quickly, so that the motor's operating current can be stabilized within a certain range as soon as possible. When the preset number is relatively large, the controller will respond to this overload situation relatively slowly, so that the motor's operating current can be stabilized more smoothly within a certain range.
[0080] Therefore, the value of the preset number can be set according to the actual application scenario of the robotic arm and the user's needs. This embodiment of the disclosure does not limit the range of the preset number or the specific value of the preset number.
[0081] 205. Control the motor in the robotic arm to work based on the current setpoint.
[0082] In practice, once the current setpoint is determined, the current setpoint and current feedback value can be input into the current regulator to obtain the current output value output by the current regulator. This current output value is then sent to the robotic arm so that the motor in the robotic arm can start working with this current output value.
[0083] In summary, when the absolute value of the position disc difference is less than the position deviation threshold and a preset number of consecutive position setpoints are the same, the speed setpoint will be reduced, causing the speed setpoint to decrease or even drop to zero. This stops the current output value from increasing or reduces the rate of increase, keeping the current output value stable within a certain range. This prevents the current output value from suddenly increasing to exceed the motor's rated current, thus avoiding frequent overload alarms and reducing the adverse impact on the working efficiency of the robotic arm.
[0084] In this embodiment of the disclosure, there are multiple methods for reducing the speed setpoint in step 204 above. Several possible methods are described below:
[0085] In one possible implementation, the method for reducing the speed setpoint can be: calculating the product between the previously determined speed setpoint and the proportional coefficient to obtain a first adjustment value, wherein the proportional coefficient ranges from (0,1); based on the first adjustment value, the speed setpoint is reduced to obtain a reduced speed setpoint.
[0086] The previously determined speed setpoint refers to the speed setpoint determined in the previous cycle.
[0087] Since the previously determined speed setpoint was data determined in the most recent time and can reflect the actual situation of the robotic arm to a certain extent, the product of the previously determined speed setpoint and the proportional coefficient is determined as the first adjustment value to reduce the speed setpoint. This allows for timely adjustment of the first adjustment value based on the actual situation of the robotic arm. In this way, regardless of the magnitude of the speed setpoint, it can be reduced to zero relatively quickly, thereby reducing the possibility of overload alarms.
[0088] Regarding the value of the proportional coefficient, if it is necessary to reduce the speed setpoint to zero as quickly as possible, the proportional coefficient can be set to a relatively large value, such as 0.8. If it is necessary to reduce the speed setpoint to zero more gradually, the proportional coefficient can be set to a relatively small value, such as 0.1. It can be set according to actual needs and the actual application scenario of the robotic arm, and this disclosure embodiment does not impose specific limitations on it.
[0089] In this disclosure embodiment, see Figure 4 The method for reducing the speed setpoint based on the first adjustment value can be as follows: if the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value, then calculate the difference between the speed setpoint and the first adjustment value to obtain the reduced speed setpoint; if the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value, then reduce the speed setpoint to 0 to obtain the reduced speed setpoint.
[0090] In this way, the speed setpoint can be reduced to zero, so that the current output value of the current regulator is the same as the current output value of the previous cycle, or the increase of the current output value of the current regulator compared with the current output value of the previous cycle can be reduced, thereby avoiding the current output value from suddenly increasing to exceed the rated current of the motor, thus reducing the possibility of overload alarm and improving the working efficiency of the robotic arm.
[0091] In this embodiment of the disclosure, the method for reducing the speed setpoint based on the first adjustment value can also be as follows: Based on the first adjustment value and the ranking of the current period among multiple consecutive periods with the same position setpoint, determine the first adjustment value corresponding to the current period, wherein the first adjustment value corresponding to the current period is positively correlated with the ranking of the current period among multiple consecutive periods with the same position setpoint, and the first adjustment value corresponding to the current period is a value greater than 0 and less than 1; if the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value corresponding to the current period, calculate the difference between the speed setpoint and the first adjustment value corresponding to the current period to obtain the reduced speed setpoint; if the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value corresponding to the current period, reduce the speed setpoint to 0 to obtain the reduced speed setpoint.
[0092] The sorting of a preset number of consecutive periods with the same given position value refers to the sorting of the consecutively acquired periods with the same given position value according to their chronological order. Since the first adjustment value corresponding to the current period is positively correlated with the ranking of the current period among the consecutive periods with the same given position value, the first adjustment value corresponding to the current period gradually increases as the ranking of the current period among the consecutive periods with the same given position value increases.
[0093] In this way, as the number of consecutive cycles with the same position setpoint increases, the speed setpoint determined after the reduction in each cycle becomes smaller. Therefore, the reduction range of the speed setpoint can be gradually increased. While ensuring that the speed setpoint is reduced to zero in a relatively smooth manner, the speed at which the reduction is zero is increased, thereby further reducing the possibility of overload alarm.
[0094] In this embodiment of the disclosure, the method of reducing the speed setpoint based on the first adjustment value can also be any other reasonable method, and this embodiment of the disclosure does not specifically limit it.
[0095] In another possible implementation, the method for reducing the speed setpoint can be: based on a second adjustment value, the speed setpoint is reduced to obtain a reduced speed setpoint, wherein the second adjustment value is determined based on a position deviation threshold.
[0096] The second adjustment value can be any reasonable value less than the position deviation threshold. If it is necessary to reduce the speed setpoint to zero as quickly as possible, the second adjustment value can be set to a relatively large value, for example, one-fifth of the position deviation threshold. If it is necessary to reduce the speed setpoint to zero more gradually, the second adjustment value can be set to a relatively small value, for example, one-tenth of the position deviation threshold. The embodiments of this disclosure do not impose specific limitations on the value of the second adjustment value, and it can be set according to the needs and the actual application scenario of the robotic arm.
[0097] In this embodiment of the disclosure, the method for reducing the speed setpoint based on the second adjustment value may be as follows: if the absolute value of the speed setpoint is greater than the absolute value of the second adjustment value, then the difference between the speed setpoint and the second adjustment value is calculated to obtain the reduced speed setpoint; if the absolute value of the speed setpoint is not greater than the absolute value of the second adjustment value, then the speed setpoint is reduced to 0 to obtain the reduced speed setpoint.
[0098] Alternatively, the method for reducing the speed setpoint based on the second adjustment value can be as follows: Based on the second adjustment value and the ranking of the current period among multiple consecutive periods with the same position setpoint, determine the second adjustment value corresponding to the current period. The second adjustment value corresponding to the current period is positively correlated with the ranking of the current period among multiple consecutive periods with the same position setpoint, and the second adjustment value corresponding to the current period is a value greater than 0 and less than 1. If the absolute value of the speed setpoint is greater than the absolute value of the second adjustment value corresponding to the current period, calculate the difference between the speed setpoint and the second adjustment value corresponding to the current period to obtain the reduced speed setpoint. If the absolute value of the speed setpoint is not greater than the absolute value of the second adjustment value corresponding to the current period, reduce the speed setpoint to 0 to obtain the reduced speed setpoint.
[0099] Since the second adjustment value corresponding to the current cycle is positively correlated with the ranking of the current cycle among multiple consecutive cycles with the same position setpoint, as the ranking of the current cycle among multiple consecutive cycles with the same position setpoint increases, the second adjustment value corresponding to the current cycle also gradually increases. This increases the speed at which the speed setpoint decreases to zero while ensuring that the speed setpoint decreases to zero relatively smoothly, thereby further reducing the possibility of overload alarm.
[0100] In this embodiment of the disclosure, the method of reducing the speed setpoint based on the second adjustment value can also be any other reasonable method, and this embodiment of the disclosure does not specifically limit it.
[0101] In this embodiment of the present disclosure, before performing step 205, the control method of the robotic arm may further include: if the absolute value of the position deviation value is not less than the position deviation threshold or if the preset number of consecutively acquired position setpoints are not the same, then the current setpoint is determined based on the speed setpoint and the speed feedback value.
[0102] During implementation, if the absolute value of the position deviation is not less than the position deviation threshold, it indicates that the current position of the robotic arm is far from the target position, and the deviation between the current position and the target position exceeds the allowable deviation range. In this case, if the robotic arm stays in a position close to the target position and causes overload, an alarm needs to be issued to remind the staff to carry out maintenance.
[0103] If the preset number of position values obtained are different, it means that the robotic arm has not been in a position close to the target position for the preset number of cycles. Instead, a new position value was received before the preset number of cycles were reached, so there will be no overload alarm.
[0104] Therefore, if one of the above two situations occurs, the current setpoint can be determined based on the determined speed setpoint and the obtained speed feedback value. Then, based on the current setpoint and the obtained current feedback value, the current output value can be determined. Based on the current output value, the motor of the robotic arm can be controlled to work, thereby controlling the robotic arm to move from the current position to the target position.
[0105] The beneficial effects of the technical solutions provided in the embodiments of this disclosure are as follows: the solutions mentioned in the embodiments of this disclosure...
[0106] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of this disclosure, and will not be described in detail here.
[0107] In the scheme mentioned in this embodiment, if the absolute value of the position deviation is less than the position deviation threshold and the preset number of consecutive position setpoints are the same, it indicates that the robotic arm has not moved to the target position, but is staying at a nearby position close to the target position. At this time, the obtained speed setpoint can be reduced to a lower value, or even reduced to zero, so as to avoid the current output value from suddenly increasing to exceed the rated current of the motor, thereby causing frequent overload alarms and reducing the impact on the working efficiency of the robotic arm.
[0108] This disclosure provides a control device for a robotic arm, which can be a computer device as described in the above embodiments, such as... Figure 5 As shown, the device includes:
[0109] The acquisition module 510 is used to acquire and store the given position value and the position feedback value;
[0110] The first determining module 520 is used to determine the position deviation value based on the given position value and the position feedback value;
[0111] The second determining module 530 is used to determine the speed setpoint based on the position deviation value;
[0112] The third determining module 540 is used to perform a devaluation process on the speed given value if the absolute value of the position deviation value is less than the position deviation threshold and the preset number of consecutively acquired position given values are the same, to obtain a devalued speed given value, and to determine the current given value based on the devalued speed given value and the speed feedback value.
[0113] The control module 550 is used to control the motor in the robotic arm to work based on the given current value.
[0114] In one possible implementation, the third determining module 540 is configured to:
[0115] The first adjustment value is obtained by multiplying the previously determined speed setpoint with the proportional coefficient, wherein the proportional coefficient ranges from (0,1).
[0116] Based on the first adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint.
[0117] In one possible implementation, the third determining module 540 is configured to:
[0118] If the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value, then the difference between the speed setpoint and the first adjustment value is calculated to obtain the speed setpoint after the reduction process.
[0119] If the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value, then the speed setpoint is reduced to 0 to obtain the reduced speed setpoint.
[0120] In one possible implementation, the third determining module 540 is configured to:
[0121] Based on the second adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint, wherein the second adjustment value is determined based on the position deviation threshold.
[0122] In one possible implementation, the third determining module 540 is further configured to:
[0123] If the absolute value of the position deviation is not less than the position deviation threshold or if the preset number of consecutively acquired position values are not the same, then the current value is determined based on the speed value and the speed feedback value.
[0124] In one possible implementation, the preset number is in the range of [2, 5].
[0125] It should be noted that the control device for the robotic arm provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the robotic arm provided in the above embodiments and the control method embodiments for the robotic arm belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.
[0126] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including instructions that can be executed by a processor in a terminal to complete the control method of the robotic arm in the above embodiments. This computer-readable storage medium can be non-transitory. For example, the computer-readable storage medium can be ROM (read-only memory), RAM (random access memory), CD-ROM, magnetic tape, floppy disk, and optical data storage devices, etc.
[0127] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0128] It should be noted that all information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals (including but not limited to signals transmitted between user terminals and other devices) involved in this disclosure are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the "position setpoint," "position feedback value," "speed feedback value," and "current feedback value" involved in this disclosure were all obtained under full authorization.
[0129] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.
Claims
1. A control method for a robotic arm, characterized in that, The method includes: Acquire and store the given location value and the location feedback value; Based on the given position value and the feedback position value, the position deviation value is determined; The speed setpoint is determined based on the position deviation value; If the absolute value of the position deviation is less than the position deviation threshold, and the preset number of consecutive position given values are the same, then the speed given value is reduced to obtain a reduced speed given value. Based on the reduced speed given value and the speed feedback value, the current given value is determined. Based on the given current value, the motor in the robotic arm is controlled to operate.
2. The method according to claim 1, characterized in that, The process of reducing the speed setpoint to obtain a reduced speed setpoint includes: The first adjustment value is obtained by multiplying the previously determined speed setpoint with the proportional coefficient, wherein the proportional coefficient ranges from (0,1). Based on the first adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint.
3. The method according to claim 2, characterized in that, The step of reducing the speed setpoint based on the first adjustment value to obtain the reduced speed setpoint includes: If the absolute value of the speed setpoint is greater than the absolute value of the first adjustment value, then the difference between the speed setpoint and the first adjustment value is calculated to obtain the speed setpoint after the reduction process. If the absolute value of the speed setpoint is not greater than the absolute value of the first adjustment value, then the speed setpoint is reduced to 0 to obtain the reduced speed setpoint.
4. The method according to claim 1, characterized in that, The process of reducing the speed setpoint to obtain a reduced speed setpoint includes: Based on the second adjustment value, the speed setpoint is reduced to obtain the reduced speed setpoint, wherein the second adjustment value is determined based on the position deviation threshold.
5. The method according to claim 1, characterized in that, Before controlling the motor in the robotic arm to operate based on the given current value, the method further includes: If the absolute value of the position deviation is not less than the position deviation threshold or if the preset number of consecutively acquired position values are not the same, then the current value is determined based on the speed value and the speed feedback value.
6. The method according to claim 1, characterized in that, The preset number ranges from [2, 5].
7. A control device for a robotic arm, characterized in that, The device includes: The acquisition module is used to acquire and store the given location value and the location feedback value; The first determining module is used to determine the position deviation value based on the given position value and the position feedback value; The second determining module is used to determine the speed setpoint based on the position deviation value; The third determining module is used to perform a devaluation process on the speed given value if the absolute value of the position deviation value is less than the position deviation threshold and the preset number of consecutively obtained position given values are the same, to obtain a devalued speed given value, and to determine the current given value based on the devalued speed given value and the speed feedback value. The control module is used to control the motor in the robotic arm to operate based on the given current value.
8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, which is loaded and executed by the processor to perform the operation performed by the control method of the robotic arm as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to perform the operation performed by the control method of the robotic arm as described in any one of claims 1 to 6.
10. A computer program product, characterized in that, The computer program product includes at least one instruction, which is loaded and executed by a processor to perform the operation performed by the control method of the robotic arm as described in any one of claims 1 to 6.