A self-guiding control method and system for the end effector of a mobile robotic arm

Abstract

This invention belongs to the field of mobile robotic arm control technology, and provides a method and system for end-effector self-guiding control of a mobile robotic arm. The system enables precise end-effector self-guiding control during insertion or slotting operations. It is based on a micro-tilt amplitude strategy network that presets and solidifies the insertion axis, micro-tilt direction, and time window. When normal force is triggered, lateral torque appears, and propulsion is obstructed, contact characteristics are collected. Within the time window, the micro-tilt amplitude is inferred and frozen only once, constrained by the upper limit of lateral force / torque and the workpiece surface tolerance level. The servo performs a micro-tilt action around the insertion axis without moving forward along the axis. After the action is completed, it simultaneously confirms the lateral load reduction and obstruction elimination, authorizing propulsion along the insertion axis while maintaining a constant micro-tilt angle. If propulsion fails and the lateral load exceeds the limit, a short retraction and repositioning are performed. Geometric clearance and self-guiding contact are formed at the initial moment, reducing the risk of edge damage and scratches, suppressing extrusion accumulation, and improving operational stability and success rate.

Description

Technical Field

[0001] This invention belongs to the field of mobile robotic arm control technology, specifically relating to a self-guiding control method and system for the end effector of a mobile robotic arm. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] When a mobile robotic arm performs insertion or slotting operations during assembly, it often faces the risk of edge damage, scratches, and obstructed progress during the initial contact. To maintain safety and stability within the accessible range, it is necessary to uniformly set the insertion axis, workpiece normal, micro-tilt direction, and action sequence, and combine normal force, lateral torque, and displacement status for contact monitoring and control. At the same time, thresholds and tolerances should be established based on the process.

[0004] Existing technologies typically drive the insertion process using contact monitoring. This involves recording the normal force, lateral torque, and displacement increment along the insertion axis after alignment. When a trigger level is reached, attitude adjustment is performed, and continuous corrections are made based on load changes during the advancement process. Geometric clearance can be achieved through continuous or iterative micro-angle adjustments, with angular movements and advancement along the insertion axis proceeding in parallel. Micro-tilt direction is corrected based on field deviations, and time control uses a process window or terminates naturally with each step. Safety management primarily constrains allowable lateral force and torque, with parameters set by sensor range and process requirements. Advancement targets a predetermined stroke and stop position; once achieved, it switches to conventional control. For incomplete advancements, a short retraction and realignment are performed before initiating a new round of contact and advancement.

[0005] However, existing technologies lack convergence in attitude and propulsion coupling during initial contact, making it difficult to form stable self-guided contact instantaneously; the direction and amplitude of the micro-tilt angle often change dynamically with the process, easily causing compression accumulation and inducing top edge abrasion; the authorized propulsion stage lacks simultaneous confirmation of lateral load fall-off and obstruction elimination, resulting in insufficient timing consistency. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a self-guiding control method and system for the end effector of a mobile robotic arm. During the initial contact phase of insertion or slotting, a micro-tilt time window with single triggering and safety constraints is used to establish a geometrically yielding self-guiding contact without forward movement along the insertion axis. The subsequent advancement is authorized by the synchronous criterion of load fall-off and obstruction elimination.

[0007] According to some embodiments, the first aspect of the present invention provides a self-guiding control method for the end effector of a mobile robotic arm, employing the following technical solution:

[0008] A self-guiding control method for the end effector of a mobile robotic arm includes:

[0009] Obtain at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window;

[0010] Based on the acquired state parameters, determine the position state of the end effector of the mobile robotic arm;

[0011] When the end effector of the mobile robotic arm is in contact monitoring mode and the micro tilt angle time window is activated, calculate the micro tilt angle amplitude.

[0012] The end effector of the mobile robotic arm performs a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generates a propulsion evaluation result after the motion is completed.

[0013] Based on the generated propulsion evaluation results, when the mobile robotic arm completes the lateral load fall-off and obstruction elimination, a propulsion permission signal and a propulsion stroke target for the mobile robotic arm are generated.

[0014] Based on the generated propulsion permission signal, the mobile robotic arm performs insertion or slotting along the insertion axis, and the end of the mobile robotic arm maintains a constant micro-tilt angle during propulsion;

[0015] After completing the target travel distance, the mobile robotic arm exits the micro-tilt time window and completes the self-guiding control of the end effector.

[0016] As a further technical limitation, during the acquisition of the mobile robotic arm's state parameters, the micro-tilt rotation axis of the insertion axis is determined and fixed according to the process direction of the target operation of the mobile robotic arm. The micro-tilt direction is preset using a single orientation with the smallest angle between the workpiece surface normal and the insertion axis. A short-time interval for triggering is used to set the micro-tilt time window until the micro-tilt action is completed. The trigger threshold is defined as a joint criterion that the normal force reaches the set value and the advancement is obstructed. The exit condition is defined as a marker indicating the completion of the micro-tilt action, used to terminate the micro-tilt time window. The risk threshold is defined as the upper limit of lateral force or the upper limit of torque, used to trigger a short retreat. The end effector is aligned to the accessible range, meaning that the distance and angle deviation between the end effector pose and the workpiece surface in the insertion axis direction are within the preset tolerance.

[0017] As a further technical limitation, when the position state of the end effector of the mobile robotic arm is in contact monitoring state, when the normal force reaches the trigger threshold and a lateral torque occurs accompanied by obstruction of propulsion, contact features are collected and a micro-tilt time window start mark is generated; after the micro-tilt time window is started, the micro-tilt amplitude is obtained based on the obtained contact features and the micro-tilt amplitude network; wherein, the micro-tilt amplitude network does not change the insertion axis, the micro-tilt direction, and the micro-tilt time window, and the micro-tilt amplitude is constrained by a safety limit, which is determined by the upper limit of the allowable lateral force and the workpiece surface tolerance level, and is used to form geometric clearance at the initial moment and suppress the top edge and scratches.

[0018] As a further technical limitation, based on the micro-tilt angle amplitude and micro-tilt angle direction, the moving robotic arm performs a micro-tilt angle movement once within the micro-tilt angle time window around the insertion axis, and remains stationary along the insertion axis direction during the movement. After the movement is completed, a propulsion evaluation result is generated.

[0019] The generated propulsion assessment results are defined as a combination of lateral load status, normal load change trend, and propulsion permission indication; the lateral load status is provided by the measured values ​​of wrist torque and normal force; the normal load change trend is determined by comparing contact characteristics before and after the movement; and the propulsion permission indication is used as the trigger signal for entering propulsion.

[0020] As a further technical limitation, in the process of generating the propulsion permission signal and propulsion stroke target of the mobile robotic arm, the propulsion evaluation result is used as the judgment basis. Lateral load fall is defined as the lateral load state decreasing from the value at the end of the micro-tilt time window and falling below the risk threshold and remaining stable. Obstruction elimination is defined as the propulsion obstruction criterion along the insertion axis not being met, and the displacement increment recovering to above the set lower limit. The lateral load fall and obstruction elimination are simultaneously confirmed. Threshold and state discrimination are performed on the propulsion evaluation result. After confirming the lateral load fall and obstruction elimination, the propulsion permission signal is generated and associated with the end time of the micro-tilt time window. The propulsion permission signal is used as the authorization command for the main shaft to propel along the insertion axis for one propulsion after the end of the micro-tilt time window. The propulsion stroke target is given after the propulsion permission signal is generated. The propulsion stroke target is defined as the combination of the stroke length along the insertion axis and the propulsion stop position. The stroke length is set according to the process requirements and the entry depth of the mating structure, and is executed under the premise that the end alignment remains unchanged. The propulsion stop position is given by the distance mark on the insertion axis.

[0021] As a further technical limitation, the mobile robotic arm uses the propulsion permission signal as the start authorization for propulsion along the insertion axis, and the propulsion stroke target as the instruction reference for the propulsion stop position and stroke length. Insertion or slotting is defined as two types of target operations: insertion is the engagement of the end effector with the mating hole, and slotting is the embedding of the end effector along the slot structure. It adopts unidirectional propulsion along the insertion axis without changing the predetermined settings of the insertion axis, micro-tilt direction, and micro-tilt time window. During propulsion, the micro-tilt amplitude is kept constant. The constant meaning is defined as the angle around the insertion axis not being adjusted within the given value and safety limit of the strategy network. The micro-tilt direction is locked, and no secondary inference or amplitude correction is performed. Servo attitude maintenance is used to ensure that the end effector contact relationship is continued by geometric yielding without triggering new micro-tilt actions.

[0022] According to some embodiments, a second aspect of the present invention provides a self-guiding control system for the end effector of a mobile robotic arm, employing the following technical solution:

[0023] A self-guiding control system for the end effector of a mobile robotic arm, comprising:

[0024] The acquisition module is configured to acquire at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window.

[0025] The judgment module is configured to determine the position state of the end effector of the mobile robotic arm based on the acquired state parameters.

[0026] The calculation module is configured to calculate the micro-tilt angle amplitude when the end effector of the mobile robotic arm is in contact monitoring mode and the micro-tilt angle time window is activated.

[0027] The generation module is configured to have the end effector of the mobile robotic arm perform a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generate a propulsion evaluation result after the motion is completed; based on the generated propulsion evaluation result, when the mobile robotic arm completes the lateral load fall-off and obstruction elimination, it generates a propulsion permission signal and a propulsion stroke target for the mobile robotic arm.

[0028] The control module is configured to perform insertion or slotting along the insertion axis based on the generated propulsion permission signal. During propulsion, the end effector of the mobile robot maintains a constant micro-tilt angle. After completing the propulsion stroke target, the mobile robot exits the micro-tilt angle time window, completing the self-guiding control of the end effector.

[0029] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution:

[0030] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the self-guiding control method for the end effector of a mobile robotic arm as described in the first aspect of the present invention.

[0031] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution:

[0032] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the self-guiding control method for the end effector of a mobile robotic arm as described in the first aspect of the present invention.

[0033] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution:

[0034] A computer program product includes software code, wherein the program in the software code performs the steps of the self-guiding control method for the end effector of a mobile robotic arm as described in the first aspect of the present invention.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] This invention employs a contact initiation micro-tilt angle control method and a contact feature-to-micro-tilt angle amplitude strategy network. The normal force, lateral torque, and propulsion obstruction indication at the initial contact moment are used as static feature inputs. The amplitude is inferred and frozen in a single step, and a safety limit truncation based on the upper limit of the lateral force / torque and the workpiece surface tolerance level is applied to the amplitude. The micro-tilt angle direction is selected and fixed within the plane formed by the insertion axis and the workpiece normal. A single time window triggers the movement, with the angle reaching its target position as the exit condition. The servo completes a single micro-tilt angle action around the insertion axis within the time window, without moving forward along the insertion axis during this period, only briefly retreating when the risk is close. Compared to existing methods that perform continuous or iterative angle correction in parallel with propulsion, this invention establishes geometric clearance and self-guided contact at the initial contact moment, suppressing extrusion accumulation, reducing the risk of edge damage and scratches, and achieving clear decoupling of attitude and propulsion without changing the insertion axis, direction, or time window.

[0037] This invention employs a propulsion authorization and timing-based evaluation method, constructing propulsion criteria around the synchronous confirmation of lateral load reduction and stall elimination. After the micro-tilt action is completed and the time window ends, the reference lateral force / torque at that moment is compared with the current measurement to confirm that the lateral load has decreased and is below the risk threshold. Stall elimination is then determined by the displacement increment recovering to above a set lower limit. Only when both conditions are met simultaneously is a propulsion permission signal generated, and a propulsion stroke target given. During propulsion, the micro-tilt amplitude and direction remain constant, without triggering secondary inference. If the lateral force or torque exceeds the limit, the process is immediately interrupted and returns to evaluation. Compared to traditional load-following continuous correction, this invention uses a static reference based on the end of the time window and dual-criteria authorization, ensuring that propulsion only occurs after self-guided contact is stable and stall is eliminated, thus improving timing consistency and process safety.

[0038] This invention employs integrated control and servo technology for insertion / slotting, encapsulating task setting, monitoring, strategy, servoing, and exit within a single timing framework. The insertion axis, micro-tilt direction, and time window are set once and fixed throughout the entire process, with the time window activated and features fixed only when a joint trigger occurs. The micro-tilt amplitude strategy network output is a single amplitude value that is frozen, executing a single micro-tilt without advancing or approaching the target position with a short retraction. Synchronous criteria authorize the advancement of the target stroke, maintaining a constant angle upon reaching the target position, exiting the time window, and resuming normal control. If advancement fails and lateral load exceeds limits, a short retraction and repositioning are performed before resetting to monitoring. Overall, this invention, through the fixed boundaries of responsibility and parameters, reduces direction switching and repeated amplitude adjustments during the process, enhancing traceability and consistent invocation. Compared to existing coupled adjustment and open timing control, it better meets the single-trigger, short-time, and encapsulated requirements of insertion / slotting scenarios for initial contact geometric clearance and safe advancement. Attached Figure Description

[0039] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0040] Figure 1 The flowchart is as follows: The self-guiding control method for the end effector of the mobile robotic arm in Embodiment 1 of the present invention;

[0041] Figure 2 This is a detailed schematic diagram illustrating the steps of the self-guiding control method for the end effector of a mobile robotic arm based on a micro-tilt amplitude network in Embodiment 1 of the present invention.

[0042] Figure 3 This is a schematic diagram of geometric clearance and self-guided contact under the initial contact micro-tilt time window in Embodiment 1 of the present invention;

[0043] Figure 4 This is a schematic diagram of the geometric clearance and self-guiding contact when the micro-tilt action is in place according to Embodiment 1 of the present invention.

[0044] Figure 5 This is a structural block diagram of the self-guiding control system at the end of the mobile robotic arm in Embodiment 2 of the present invention. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0046] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0047] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0049] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0050] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0051] Example 1

[0052] Embodiment 1 of the present invention introduces a self-guiding control method for the end effector of a mobile robotic arm.

[0053] like Figure 1 and Figure 2 The illustrated method for end-effector self-guiding control of a mobile robotic arm includes:

[0054] Obtain at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window;

[0055] Based on the acquired state parameters, determine the position state of the end effector of the mobile robotic arm;

[0056] When the end effector of the mobile robotic arm is in contact monitoring mode and the micro tilt angle time window is activated, calculate the micro tilt angle amplitude.

[0057] The end effector of the mobile robotic arm performs a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generates a propulsion evaluation result after the motion is completed.

[0058] Based on the generated propulsion evaluation results, when the mobile robotic arm completes the lateral load fall-off and obstruction elimination, a propulsion permission signal and a propulsion stroke target for the mobile robotic arm are generated.

[0059] Based on the generated propulsion permission signal, the mobile robotic arm performs insertion or slotting along the insertion axis, and the end of the mobile robotic arm maintains a constant micro-tilt angle during propulsion;

[0060] After completing the target travel distance, the mobile robotic arm exits the micro-tilt time window and completes the self-guiding control of the end effector.

[0061] As one or more implementation methods, this embodiment sets the insertion axis, micro-tilt direction, and micro-tilt time window according to the target operation, sets the trigger threshold, exit condition, and risk threshold, and aligns the end to the accessible range; specifically:

[0062] This embodiment completes the settings for the insertion axis, micro-tilt direction, micro-tilt time window, trigger threshold, exit condition, risk threshold, and end-effector alignment to the accessible range in one go, and uses them consistently in subsequent steps; the insertion axis is denoted as... The normal to the workpiece surface is denoted as The direction of the slight tilt angle is denoted as Using a micro-tilt time window as , denoted by the trigger threshold The exit condition is recorded as , recorded as risk threshold denoted by normal force denoted by lateral force The lateral moment is denoted as The end pose is recorded as .

[0063] This embodiment will insert the shaft. The direction of the process is determined based on the target operation; for the insertion operation, Oriented to the assembly direction of the mating hole; for the insertion operation, Oriented to the guide direction of the groove; the body configuration of the end-effector is given. The fixed expression, and in the control system The rotating axis is fixed at a micro-tilt angle and does not adjust with changes in the field; after establishing the insertion axis, the normal of the workpiece surface in the expected contact area is established as... This is used for the unified determination of the direction of subsequent micro-tilt angles.

[0064] This embodiment will specify the micro-tilt direction. A single orientation preset is used, specifically in the case of... and Within Zhang Cheng's plane, the orientation that minimizes the included angle between the two is selected as... And it remains unchanged throughout the entire process, without any orientation switching or symbol flipping on site; this single orientation preset is used as a differential control constraint to avoid sequence inconsistencies caused by temporary adjustments to the micro-tilt direction.

[0065] This embodiment uses a micro-tilt time window. Set as a short-term interval for single triggering, that is, use the initial contact as the trigger time, and record the initial contact time as... ,Depend on mark The beginning, marked by the completion of the slight tilting motion. The end; will The execution boundary used to constrain a one-time micro tilt angle, in No new micro-tilt actions are allowed outside of this process, and no time extensions or repeated triggers are permitted to ensure that the timing of the micro-tilt is bound to the contact initiation.

[0066] This embodiment will trigger the threshold. The joint criterion is set, that is, a combination of normal force and propulsion state is used to express the condition. The condition for the joint to be established is that the set contact level is reached and the advance along the insertion axis is obstructed; the advance obstruction is defined as along the insertion axis. If the displacement increment is lower than the set lower limit and remains so, this lower limit will be used as a constant process constraint parameter in the field; It is used only as an entry condition for determining the contact state and does not replace it. The start and end points are defined; the exit conditions are defined. Defined as the marker indicating the completion of the micro-tilt action, that is, using the synchronous marker of angle arrival and command completion as... and used to terminate .exist Do not terminate prematurely before generation ,exist No delay after generation This ensures the time-based encapsulation and closure of a single micro-tilt action.

[0067] This embodiment will use risk thresholds. As a set of safety limits, it is to be set, that is... It is composed of the upper limit of lateral force and the upper limit of moment, respectively. and This is indicated and used as a separate interruption criterion in the control system. Binding with short-term termination policy, when or When approaching or reaching their respective limits, a short crash is triggered, without modification. and The settings remain unchanged. Definition.

[0068] In this embodiment, aligning the end cap to the accessible range is a necessary condition before the entry operation. Pose guidance along the insertion axis is used to guide the end cap's pose. Adjust the relative distance and angle deviation between the contact area and the workpiece to within tolerance. (The text abruptly ends here.) The distance tolerance is denoted as The relative angle tolerance is denoted as ,exist and If all preset tolerances are met, the system is considered to have entered the accessible range. No micro-tilt action is triggered during alignment, and the system remains unchanged. and The settings.

[0069] In terms of implementation order, first establish and Subsequently determined Then set , , and Finally, the end is aligned to the accessible range.

[0070] As one or more implementation methods, in this embodiment, under contact monitoring conditions, when the normal force reaches the trigger threshold and a lateral torque occurs accompanied by obstructed propulsion, contact characteristics are collected and a micro-tilt time window start marker is generated; specifically:

[0071] Insert axis is denoted as The normal to the workpiece surface is denoted as The direction of the slight tilt angle is denoted as The slight tilt time window is recorded as The trigger threshold is denoted as The exit condition is denoted as The risk threshold is denoted as Normal force is denoted as Lateral force is denoted as The lateral moment is denoted as ; In contact monitoring mode, record the propulsion status along the insertion axis, and record the propulsion status along the axis. The displacement increment is denoted as It is used to determine whether the advance is hindered.

[0072] First, establish a contact monitoring status and continuously record data throughout the control period. , and Normal force Defined as along The contact force component is used to sense the entry of the contact load; the lateral torque is also used. Defined as in The wrist moment component in the vertical plane is used to reflect contact deviation and top edge risk; propulsion resistance is defined as the displacement increment along the insertion axis. Below the set lower limit and accompanied by Rise; set a lower limit as As a lower limit constraint for propulsion with unchanged process, it is used to trigger the determination of propulsion obstruction; the above recording process remains unchanged. No change It serves only as a state-aware input.

[0073] Secondly, a joint threshold and state determination is performed; the trigger level when the normal force reaches a certain threshold is set as... Reaching from The contact level is indicated; the occurrence of lateral moment is set as... The amplitude exceeds the minimum sensing threshold, which is denoted as . Setting the obstruction of progress as and It is on the rise.

[0074] A microtilt time window start flag is generated only when all three conditions above are met simultaneously. The start flag is denoted as [symbol missing]. And record the start time as ;by As The beginning, without repeating the generation of new ones. In the absence of satisfaction Do not restart previously. When the target approaches or reaches a point where it is safely suppressed, the device is not set in that case. Continue to monitor contact and wait for a safe return to normal.

[0075] This embodiment is in Contact features are acquired and saved as a static record at the same moment the position is set; the contact feature vector is denoted as... ,Depend on , Combined with the propulsion obstruction indication; the propulsion obstruction indication is denoted as , used for marking and The rising state. The static record at startup time is recorded as... and with The identifier is bound, and the binding index is denoted as .Will As a subsequent "contact feature to micro-tilt amplitude strategy network in" The only input reference within the policy network is denoted as It does not update over time, does not perform secondary data collection, and remains consistent with... Timing consistency.

[0076] In terms of constraint implementation, this embodiment adopts a single-trigger principle for management. ;when When effective, Enter startup state, only Once confirmed, the process ends; Upon reaching the threshold, an interrupt is triggered, maintaining the current monitoring state and waiting for the risk to dissipate. Throughout the process, [the system does not...]. and Make adjustments, but do not change. The definition ensures the temporal encapsulation and one-time execution boundary of micro-tilt actions.

[0077] It should be noted that this embodiment is based on the pre-set... , and Within the framework, contact monitoring, joint discrimination, time window activation, and contact characteristic solidification are completed. The external output is... , , and This allows for direct calls to subsequent steps, ensuring temporal and input consistency with the contact feature-to-micro-tilt amplitude strategy network.

[0078] This embodiment does not change the insertion axis. Slight tilt direction With micro-tilt time window Under the premise of providing a reliable supply of single-trigger and static contact characteristics for micro-tilt time windows.

[0079] As one or more implementation methods, in this embodiment, when the micro-tilt time window is activated, the contact feature is input to the micro-tilt amplitude strategy network, inference is performed only once, and the micro-tilt amplitude is output. The micro-tilt amplitude strategy network does not change the insertion axis, micro-tilt direction, or micro-tilt time window. The micro-tilt amplitude is constrained by a safety limit, which is determined by the upper limit of the allowable lateral force and the workpiece surface tolerance level. This is used to form geometric clearance at the initial moment and suppress top edge and scratches; specifically:

[0080] In this embodiment, the contact feature to micro-tilt amplitude strategy network is denoted as... In a micro-tilt time window The start time is marked by the micro-tilt time window. Trigger an inference; statically record the contact characteristics at the start time as follows. , as the sole input Let the inserted axis be denoted as The direction of the micro-tilt angle is denoted as (Both are fixed by the previous steps and will not be adjusted in this step).

[0081] This embodiment limits the inference responsibility to outputting a single value of the micro-tilt angle amplitude, without outputting other position, force, or time-related control quantities; the output is frozen after generation and compared with... and Binding is performed to ensure the timing consistency of subsequent micro-tilt actions.

[0082] This embodiment constructs the contact feature-to-micro-tilt amplitude strategy network as an amplitude decision model oriented towards the contact initiation stage, expressed using a control strategy with finite output parameters and single responsibility. The input is... The combination of contact features, including normal force Lateral moment With indication of obstructed progress The output is the candidate micro-tilt angle amplitude, denoted as... In terms of structure and responsibilities, Apply constraints: Do not change No change No change ; Adopting the principle of one-time inference, only when Run when set; freeze after inference. and in The internal references are maintained consistently. The above constraints are used to explicitly bind the amplitude decision to the timing of the contact initiation, avoiding control conflicts with the insertion axis, micro-tilt direction, and time window.

[0083] The micro-tilt angle amplitude is placed under a safety limit constraint, which is jointly determined by the upper limit of the allowable lateral force and the workpiece surface tolerance level; the upper limit of the allowable lateral force is denoted as... This is consistent with the set of risk thresholds; the upper limit of torque is denoted as... Used in conjunction with lateral force to define the permissible amplitude boundary; the workpiece surface tolerance level is denoted as... Its value corresponds to the upper limit of the allowable surface angle specified in the process specification. To ensure consistent constraint of force, torque, and angle within the same decision-making process, the contact lateral stiffness coefficient is denoted as... This is used to convert the upper limit of lateral force into an allowable angular amount; the torsional angular stiffness coefficient is denoted as... It is used to convert the upper limit of torque into the permissible amount of angle.

[0084] The above parameters are given in the task settings and can be invoked as fixed constraints. An amplitude truncation strategy is adopted to push candidate amplitudes that exceed the safety limit back within the boundary, ensuring that only the necessary angles for geometric concession are formed at the initial instant.

[0085] At the point where inference and safety limit constraints intersect, the following amplitude determination and truncation formulas are used to freeze the output:

[0086]

[0087] in, This is the final output of the micro-tilt angle amplitude; for based on The candidate range; The permissible range limit defined for safety limits; , , These are the weighting coefficients for lateral force, torque, and surface tolerance level. This represents the upper limit of permissible lateral force. This represents the upper limit of the permissible lateral moment. Let be the contact lateral stiffness coefficient, so that It has the dimension of angle; Let be the torque angular stiffness coefficient, so that It has the dimension of angle; This represents the upper limit of the permissible angle corresponding to the surface tolerance level.

[0088] This embodiment will use the result of a single deduction. The truncation is performed within the safety limit boundary, and a non-negative constraint is used to ensure that the micro-tilt angle amplitude does not reverse.

[0089] In the application of geometric yielding, Around the insertion axis And along the direction of slight inclination The call is made solely to change the relative attitude of the contact surfaces at the initial instant, establishing a self-guiding contact relationship near the insertion axis. This self-guiding contact relationship serves as the basis for calling the contact initiation micro-tilt servo module; the module only receives... Amplitude, excluding other quantities related to position, force, or time; After completing a single micro-tilt maneuver, The linkage is triggered as a termination condition. Therefore, the boundaries of responsibility between amplitude decision-making and servo execution are clear: Output and freeze Servo module around Perform a slight tilting motion. and Maintain the established settings.

[0090] In terms of timing and binding, and Perform bidirectional association: In The set startup time is generated and frozen. ,exist The frozen value is referenced internally, and secondary inference or magnitude correction is not allowed; End after taking effect The validity period, the termination of the... This step is closed. The entire implementation process strictly adheres to the one-time inference principle and safety constraints, serving the geometric clearance and self-guiding contact relationship establishment at the initial moment, while maintaining contact with the insertion axis. Slight tilt direction and micro-tilt time window Consistency and invariance.

[0091] As one or more implementation methods, this embodiment performs a micro-tilt motion around the insertion axis by the contact initiation micro-tilt servo module based on the micro-tilt amplitude and micro-tilt direction. The motion is only effective within the micro-tilt time window. During the motion, the device remains stationary along the insertion axis direction to avoid compression accumulation. After the motion is completed, a propulsion evaluation result is generated. Specifically:

[0092] The contact-initiated micro-tilt servo module is used as a control module to execute angle commands around the insertion axis within the micro-tilt time window and manage execution permissions. The input is the micro-tilt amplitude. With slight tilt direction The axis of rotation is the insertion axis. With a slightly tilted time window The start time is recorded as The exit condition for the completion of the action is denoted as The time of its occurrence is recorded as No change No change No change The setting; during the operation, a hard constraint is imposed on the advance along the insertion axis, preventing forward movement, only at the risk threshold. A short retraction is permitted upon approach. The lateral moment is denoted as... The lateral force is denoted as The normal force is denoted as .

[0093] At the motion execution layer, the angle change around the insertion axis is completed in one go with a slight tilt angle, and a single motion is completed using a fixed angle trajectory; the fixed angle trajectory is denoted as... ,exist hour ,exist The Ending Moment It increases monotonically within the interval and does not undergo secondary adjustments.

[0094] In this embodiment, to achieve the constraint of not moving forward along the insertion axis during the operation and allowing short retraction when the risk is close, the displacement command along the insertion axis is set to a default value of zero, and short retraction only occurs when... Approaching and still in Set position within the time frame; the action is triggered when the angle reaches its target position, and the angle's position is then set to the target position. Linkage, in generation Stop angle command and end .

[0095] To clearly express the combined control of a single micro-tilt action and a non-forward constraint, this embodiment adopts the following unified action command expression:

[0096]

[0097] in, To initiate the micro-tilt servo module contact at time Command vector; To surround the insertion axis The angle command, in degrees; For the insertion axis The displacement command is in units of length; In the direction of slight tilt The direction-locking scalar is used to select the angle sign in a given direction and maintain direction consistency; The amplitude of the micro-tilt angle at which the freeze is applied; For a fixed-angle trajectory, the normalized time function is used. This is the start and end indicator within the micro-tilt time window; the value is 1 within the window and 0 outside the window. This is the upper limit of the short-return displacement, a non-negative constant; As a risk approach indicator, in The value is 1 if the time is close to but has not yet been reached, and 0 otherwise.

[0098] In this embodiment, the angle command around the insertion axis is... The internal trajectory is fixed and completed in one go; the displacement command along the insertion axis is zero by default and does not produce forward movement; it is only used when the risk is close and still in the range of... A short retraction is performed during the internal movement to ensure that the displacement along the insertion axis is not positive. During execution, a completion marker is generated when the angle reaches its maximum value, serving as... The confirmation event, and The end of the synchronization record and the triggering of the generation of evaluation results are provided.

[0099] This embodiment aligns and references the measured values ​​during the action: In Record the normal force and lateral load before and after the action, and record the normal force before the action as... The normal force after the action is denoted as Lateral load state from and The current value is given. The trend of normal load variation is defined as... It is used to determine whether there is a continuous increase in normal load caused by propulsion; the extrusion accumulation is defined as the continuous increase in normal load caused by propulsion along the insertion axis while maintaining contact, which is suppressed by non-forward movement and short retraction control, so that the contact relationship is changed only by micro-tilt angle; the propulsion evaluation result is generated after the action is completed.

[0100] In this embodiment, the evaluation result will be denoted as... It is composed of a combination of lateral load status, normal load change trend, and propulsion allowance indication. The lateral load status is... Indicate; to represent the trend of normal load change. This indicates that the instruction to proceed will be recorded as... Under lateral load conditions, the permitted upper limit is met and Set to valid if it is not ascending, and set to invalid if any condition is not met; exist The output generated at the same time triggers the next step of the process.

[0101] It should be noted that the micro-tilt action only occurs when... It takes effect within the time frame and completes the movement in one go around the insertion axis at a fixed angle. It does not move forward along the insertion axis, but a short retreat is allowed when the risk is close. After the action is completed, a propulsion evaluation result is generated based on the measured value and comparison, providing consistent input for the subsequent propulsion permission and propulsion stroke target.

[0102] As one or more implementation methods, this embodiment confirms the lateral load reduction and stall elimination based on the propulsion assessment results, generates a propulsion permission signal, and provides a propulsion stroke target; specifically:

[0103] The progress assessment results will be recorded as It contains lateral load conditions. Trend of normal load variation Candidate states for propulsion permission indication. The end time of the micro-tilt time window is recorded as... The reference value at that moment is used for "fallback determination," and the reference lateral force is recorded as... The reference lateral moment is denoted as The upper limit of lateral force allowed in the risk threshold set is denoted as... The upper limit of the allowable lateral moment is denoted as The lower limit of displacement along the insertion axis is used. With indication of obstructed progress This serves as the input criterion for blocking elimination.

[0104] The above quantities are read once after the action is completed, without changing the insertion axis. Without changing the direction of the micro-tilt angle Without changing the micro-tilt time window The established settings.

[0105] Lateral load reduction is defined as: the current lateral force and lateral torque after the action is completed (denoted as...). , At the same time, lower than The reference value is below the risk threshold, and the normal load does not increase, i.e. .

[0106] The definition of obstruction elimination is: the displacement increment along the insertion axis recovers to above the set lower limit, and the obstruction criterion is not met, that is, the current obstruction indication is invalid.

[0107] The two criteria are simultaneously confirmed, and a single decision is used to generate a permission instruction to proceed. A non-iterative discrimination process is adopted, only when... A conclusion is given in the subsequent judgment after confirmation.

[0108] To combine lateral load shedding and stall elimination in the same decision, the following formula is used to generate the propulsion allowance indication:

[0109]

[0110] in, To advance the permission instructions; For indicator functions; , These are the lateral force and lateral moment after the action is completed; , for The reference lateral force and reference lateral moment; , This is the pullback coefficient, with a value less than 1; , This represents the upper limit allowed within the set of risk thresholds; This represents the trend of normal load variation. This represents the current displacement increment along the insertion axis; To set a lower limit; This indicates that the movement has been hindered after the action has been completed.

[0111] The above formula contains only a combination of inequalities and indicators in terms of dimension, forming a single authorization criterion.

[0112] exist At that time, the progress target will be given. The journey length will be denoted as... The position where the propulsion stops is recorded as .Will The depth of entry is set according to process requirements and the mating structure, while maintaining the alignment of the end portion; To insert along the axis The distance marker is given, allowing propulsion to reach... Stop at this time. External output includes... , and This is used to advance the process as authorized in the next step.

[0113] exist At this time, the current state is treated as an unauthorized condition, no valid output of the propulsion permission instruction is generated, and no propulsion stroke target is given. Control is transferred to the stop hold of the contact start micro-tilt servo module, the propulsion command along the insertion axis remains at zero, no new micro-tilt action is triggered, and the system waits for new propulsion evaluation results.

[0114] This embodiment uses the propulsion assessment results as the sole basis to simultaneously confirm the lateral load reduction and obstruction elimination, forming a consistent authorization instruction and a clear propulsion range target.

[0115] As one or more implementation methods, this embodiment completes the insertion or slotting by advancing along the insertion axis according to the advance permission signal, maintaining a constant micro-tilt angle amplitude during advancement, and outputting a completion indication; specifically:

[0116] In this embodiment, the advance permission signal will be denoted as... After being set to active, the insertion along the insertion axis is initiated; insertion and slotting are treated as two types of target operations and controlled uniformly: insertion is defined as the engagement of the end with the mating hole, and slotting is defined as the embedding of the end along the slot structure. The insertion along the insertion axis is employed. Unidirectional propulsion without changing the direction of the micro-tilt angle Without changing the micro-tilt time window The predetermined setting. The propulsion target consists of the travel length and the propulsion stopping position, with the travel length denoted as... The position where the propulsion stops is recorded as And at the end of the micro-tilt time window The insertion shaft position is used as a reference. Before starting the propulsion, the micro-tilt angle amplitude is recorded as... During propulsion, the angle around the insertion axis remains constant, and the orientation is locked by the attitude holding servo, without triggering new micro-tilt movements.

[0117] During the execution, the displacement along the insertion axis will be managed with the target propulsion stroke as the upper limit, until the target is reached. The propulsion will stop at a certain time. The propulsion speed command will be given using a combination of timing and state constraints: Effective, lateral load does not exceed the risk threshold set Furthermore, it continues to advance until the stop position is reached; if any constraint is not met, advancement immediately stops, and the state is handed over to the contact initiation micro-tilt servo module for stop holding. Maintaining a constant micro-tilt amplitude during advancement means that the angle command around the insertion axis is maintained at [value missing]. No secondary inference or amplitude correction is performed; the micro-tilt direction remains unchanged. No direction switching or sign flipping is performed.

[0118] To systematically combine maintaining a constant micro-tilt amplitude during propulsion with propulsion control based on authorization and risk thresholds, this embodiment proposes and employs the following propulsion control command:

[0119]

[0120] in, To advance control commands; To maintain a slight tilt angle around the insertion axis, in degrees; This is the advance speed command along the insertion axis, in length per time. For indicator functions; This is the end time of the micro-tilt time window; The amplitude of the micro-tilt angle at which the freeze is applied; For the generated propulsion permission signal; This is the measured value of the lateral force; This represents the upper limit of lateral force allowed within the risk threshold set. This is the measured value of the lateral moment; This represents the upper limit of the permissible lateral moment within the risk threshold set. This represents the current position along the insertion axis; To advance to the stop position; The nominal velocity of propulsion. This formula maintains the micro-tilt angle amplitude throughout the entire propulsion process. The propulsion speed command is limited by three types of indicators: authorization, risk, and distance, so that the propulsion reaches the target speed. It is valid until it is reached, and then immediately resets to zero.

[0121] The completion determination is given using joint conditions; the completion indication is defined as the output marker indicating that the progress objective has been achieved and the risk constraints remain effective. At the same time, if , And the trend of normal load variation is denoted as If a completion indication is generated, it will trigger subsequent cleanup and status recording, and the end time will be recorded in the insertion or slotting target operation. If a lateral load or lateral torque exceeds the risk threshold set during propulsion, propulsion will be stopped immediately, no completion indication will be generated, the current attitude will be maintained, and the propulsion evaluation results will be awaited.

[0122] Throughout the implementation, the inserted axis Slight tilt direction Micro-tilt time window With micro-tilt amplitude Maintain the established settings and advance along One-way execution, stop position is Given, the journey length is... Binding ensures that plugging or slotting is completed under authorization, constraints, and timing consistency.

[0123] As one or more implementation methods, this embodiment exits the micro-tilt time window and resumes normal control according to the completion indication. If the propulsion fails and the lateral load exceeds the risk threshold, a short retreat and re-alignment are performed before re-triggering the initial contact; specifically:

[0124] Let the insertion axis be denoted as The direction of the slight tilt angle is denoted as The slight tilt time window is recorded as The time window start marker is recorded as The set of risk thresholds is denoted as The upper limit of the lateral force is denoted as The upper limit of the allowable lateral moment is denoted as The upper limit of the short retraction displacement is denoted as... The end pose is denoted as The positional tolerances are denoted as follows: and .

[0125] After receiving the completion instruction, Invalidate, Exit Stop referencing the micro-tilt amplitude; zero the angle command around the insertion axis and maintain attitude stability, no longer... The frame emits a micro-tilt motion; the control mode is switched to normal control, with the propulsion, attitude maintenance, and built-in pose control along the insertion axis as the main control, and no longer controlling the position and posture of the components. Scheduled in conjunction with micro-tilt amplitude. Verify the status of the end-point, maintaining achieved insertion or slotting results under normal control without triggering new contact monitoring or strategy inference.

[0126] In the event of propulsion failure, failure is defined as the failure to achieve the propulsion target and the absence of a completion indication. A threshold judgment is applied to the lateral load; when the lateral force... Exceed or lateral moment Exceed When the lateral load exceeds .

[0127] If propulsion fails and lateral load exceeds [a certain threshold], [the following conditions will be met]. When conditions are met simultaneously, execute the short-reset and repositioning process: along The displacement command is set to a negative short back, and the short back amplitude does not exceed No changes during the short-term retirement period The setting does not trigger new micro-tilt actions; after the short retreat is completed, the end is re-aligned. Adjust to an accessible range, so that along The distance error satisfies Tolerance, ensuring that the relative angle error meets the following conditions. Tolerance, maintaining the insertion axis The established orientation.

[0128] After re-alignment is achieved, contact monitoring is restored, and the initial contact determination is retried: the normal force, lateral moment, and displacement increment along the insertion axis are entered into the monitoring process, and a new micro-tilt time window start marker is generated according to the joint discrimination. Enter And prepare static contact features as input for subsequent strategies.

[0129] The above process is repeated until a new completion instruction appears; once a completion instruction appears, exit as described above. Then restore normal control. The entire process remains unchanged. No modifications No change The definition is based solely on completion instructions and The system switches, briefly exits, and repositions states to ensure traceability and consistent invocation of the process.

[0130] This embodiment employs a contact initiation micro-tilt angle control method and a contact feature-to-micro-tilt angle amplitude strategy network. The normal force, lateral torque, and propulsion obstruction indication at the initial contact moment are used as static feature inputs. The amplitude is inferred and frozen in a single step, and a safety limit truncation based on the upper limit of the lateral force / torque and the workpiece surface tolerance level is applied to the amplitude. The micro-tilt angle direction is selected and fixed within the plane formed by the insertion axis and the workpiece normal. A single time window triggers the movement, and the exit condition is the angle reaching its target position. The servo completes a single micro-tilt angle action around the insertion axis within the time window, without moving forward along the insertion axis during this period, only briefly retreating when the risk is close. Compared to existing methods that perform continuous or iterative angle correction in parallel with propulsion, this embodiment forms geometrical clearance and self-guided contact at the initial contact moment, suppressing extrusion accumulation, reducing the risk of edge damage and scratches, and achieving clear decoupling of attitude and propulsion without changing the insertion axis, direction, or time window.

[0131] This embodiment employs a propulsion authorization and timing-based evaluation, constructing propulsion criteria around the synchronous confirmation of lateral load reduction and stall elimination. After the micro-tilt action is completed and the time window ends, the reference lateral force / torque at that moment is compared with the current measurement to confirm that the lateral load has decreased and is below the risk threshold. Stall elimination is then determined by the displacement increment recovering to above the set lower limit. Only when both conditions are met simultaneously is a propulsion permission signal generated and a propulsion stroke target given. During propulsion, the micro-tilt amplitude and direction remain constant, without triggering secondary inference; if the lateral force or torque exceeds the limit, the process is immediately interrupted and returns to evaluation. Compared to traditional load-following continuous correction, this embodiment uses a static reference and dual-criteria authorization based on the end of the time window to ensure that propulsion only occurs after self-guided contact is stable and stall is eliminated, improving timing consistency and process safety.

[0132] This embodiment employs integrated control and servo technology for insertion / slotting, encapsulating task setting, monitoring, strategy, servoing, and exit within a single timing framework. The insertion axis, micro-tilt direction, and time window are set once and fixed throughout the entire process. The time window is activated and its features are fixed only when a joint trigger is established. The micro-tilt amplitude strategy network output is a single amplitude value that is frozen, executing a single micro-tilt without advancing or approaching the target position with a short retraction. Synchronous criteria authorize the advancement of the target stroke. Upon reaching the target position, the angle remains constant, the time window exits, and normal control resumes. If advancement fails and lateral load exceeds limits, a short retraction occurs, realigning and resetting to monitoring. Overall, this embodiment reduces direction switching and repeated amplitude adjustments during the process through fixed responsibility boundaries and parameters, enhancing traceability and consistent invocation. Compared to existing coupled adjustment and open timing control, it better meets the single-trigger, short-time, and encapsulated requirements of insertion / slotting scenarios for initial contact geometric clearance and safe advancement.

[0133] Example 2

[0134] Embodiment 2 of the present invention introduces a self-guiding control system for the end effector of a mobile robotic arm.

[0135] like Figure 5 The illustrated mobile robotic arm end-effector self-guiding control system includes:

[0136] The acquisition module is configured to acquire at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window.

[0137] The judgment module is configured to determine the position state of the end effector of the mobile robotic arm based on the acquired state parameters.

[0138] The calculation module is configured to calculate the micro-tilt angle amplitude when the end effector of the mobile robotic arm is in contact monitoring mode and the micro-tilt angle time window is activated.

[0139] The generation module is configured to have the end effector of the mobile robotic arm perform a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generate a propulsion evaluation result after the motion is completed; based on the generated propulsion evaluation result, when the mobile robotic arm completes the lateral load fall-off and obstruction elimination, it generates a propulsion permission signal and a propulsion stroke target for the mobile robotic arm.

[0140] The control module is configured to perform insertion or slotting along the insertion axis based on the generated propulsion permission signal. During propulsion, the end effector of the mobile robot maintains a constant micro-tilt angle. After completing the propulsion stroke target, the mobile robot exits the micro-tilt angle time window, completing the self-guiding control of the end effector.

[0141] The detailed steps are the same as those of the self-guiding control method for the end effector of the mobile robotic arm provided in Example 1, and will not be repeated here.

[0142] Example 3

[0143] Embodiment 3 of the present invention provides a computer-readable storage medium.

[0144] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the self-guiding control method for the end effector of a mobile robotic arm as described in Embodiment 1 of the present invention.

[0145] The detailed steps are the same as those of the self-guiding control method for the end effector of the mobile robotic arm provided in Example 1, and will not be repeated here.

[0146] Example 4

[0147] Embodiment 4 of the present invention provides an electronic device.

[0148] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in the self-guiding control method for the end effector of a mobile robotic arm as described in Embodiment 1 of the present invention.

[0149] The detailed steps are the same as those of the self-guiding control method for the end effector of the mobile robotic arm provided in Example 1, and will not be repeated here.

[0150] Example 5

[0151] Embodiment 5 of the present invention provides a computer program product.

[0152] A computer program product includes software code, wherein the program in the software code performs the steps of the self-guiding control method for the end effector of a mobile robotic arm as described in Embodiment 1 of the present invention.

[0153] The detailed steps are the same as those of the self-guiding control method for the end effector of the mobile robotic arm provided in Example 1, and will not be repeated here.

[0154] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0155] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0156] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0158] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0159] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0160] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A self-guiding control method for the end effector of a mobile robotic arm, characterized in that, include: Obtain at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window; Based on the acquired state parameters, determine the position state of the end effector of the mobile robotic arm; When the end effector of the mobile robotic arm is in contact monitoring mode and the micro tilt angle time window is activated, calculate the micro tilt angle amplitude. The end effector of the mobile robotic arm performs a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generates a propulsion evaluation result after the motion is completed. Based on the generated propulsion assessment results, when the mobile robotic arm completes lateral load reduction and obstruction elimination, a propulsion permission signal and a propulsion stroke target for the mobile robotic arm are generated. The generated propulsion assessment results are defined as a combination of lateral load status, normal load change trend, and propulsion permission indication. Lateral load reduction is defined as the lateral load status decreasing from the value at the end of the micro-tilt time window and falling below the risk threshold and remaining stable. Obstruction elimination is defined as the propulsion obstruction criterion along the insertion axis not being met, and the displacement increment recovering to above the set lower limit. The lateral load reduction and obstruction elimination are simultaneously confirmed. Based on the generated propulsion permission signal, the mobile robotic arm performs insertion or slotting along the insertion axis, and the end of the mobile robotic arm maintains a constant micro-tilt angle during propulsion; After completing the target travel distance, the mobile robotic arm exits the micro-tilt time window and completes the self-guiding control of the end effector.

2. The self-guiding control method for the end effector of a mobile robotic arm as described in claim 1, characterized in that, During the acquisition of the mobile robotic arm's state parameters, the micro-tilt rotation axis of the insertion shaft is determined and fixed according to the process direction of the target operation of the mobile robotic arm. The micro-tilt direction is preset using a single orientation with the smallest angle between the workpiece surface normal and the insertion axis. A short-time interval for triggering is used to set the micro-tilt time window until the micro-tilt action is completed. The trigger threshold is defined as a joint criterion that the normal force reaches the set value and the advancement is obstructed. The exit condition is defined as a marker that the micro-tilt action is completed, which is used to terminate the micro-tilt time window. The risk threshold is defined as the upper limit of lateral force or the upper limit of torque, which is used to trigger short retraction; the end is aligned to the accessible range, which means that the distance and angle deviation between the end pose and the workpiece surface in the insertion axis direction are within the preset tolerance.

3. The self-guiding control method for the end effector of a mobile robotic arm as described in claim 1, characterized in that, When the position state of the end effector of the mobile robotic arm is in contact monitoring state, when the normal force reaches the trigger threshold and a lateral torque occurs accompanied by obstruction of propulsion, contact features are collected and a micro-tilt time window start mark is generated. After the micro-tilt time window is started, the micro-tilt amplitude is obtained based on the obtained contact features and the micro-tilt amplitude network. The micro-tilt amplitude network does not change the insertion axis, the micro-tilt direction, or the micro-tilt time window. The micro-tilt amplitude is constrained by a safety limit, which is determined by the upper limit of the allowable lateral force and the workpiece surface tolerance level. It is used to form geometric clearance at the initial moment and suppress top edge and scratches.

4. The self-guiding control method for the end effector of a mobile robotic arm as described in claim 1, characterized in that, Based on the micro-tilt angle amplitude and micro-tilt angle direction, the moving robotic arm performs a micro-tilt angle movement once within the micro-tilt angle time window around the insertion axis, and remains stationary along the insertion axis direction during the movement. After the movement is completed, a propulsion evaluation result is generated. Lateral load status is provided by the measured values ​​of wrist torque and normal force; the trend of normal load change is determined by comparing contact characteristics before and after the movement; and the propulsion permission indicator is used as the trigger signal for entering propulsion.

5. The self-guiding control method for the end effector of a mobile robotic arm as described in claim 1, characterized in that, In the process of generating the propulsion permission signal and propulsion stroke target for the mobile robotic arm, the propulsion evaluation result is used as the judgment basis, and threshold and state discrimination are performed on the propulsion evaluation result; after confirming the lateral load fall and the obstruction is eliminated, the propulsion permission signal is generated and associated with the end time of the micro tilt angle time window; the propulsion permission signal is used as the authorization command for the main shaft to propel along the insertion axis, and is used for one propulsion after the end of the micro tilt angle time window; the propulsion stroke target is given after the propulsion permission signal is generated. The target propulsion stroke is defined as the combination of the stroke length along the insertion axis and the propulsion stop position. The stroke length is set according to the process requirements and the insertion depth of the mating structure. The operation is performed while keeping the end alignment unchanged. The propulsion stop position is given by the distance mark on the insertion axis.

6. The self-guiding control method for the end effector of a mobile robotic arm as described in claim 1, characterized in that, The mobile robotic arm uses the advance permission signal as the start authorization for advance along the insertion axis, and uses the advance stroke target as the instruction reference for the advance stop position and stroke length. Insertion or slotting is defined as two types of target operations: insertion is the engagement of the end effector with the mating hole, and slotting is the embedding of the end effector along the slot structure. It adopts unidirectional advance along the insertion axis without changing the predetermined settings of the insertion axis, micro-tilt direction, and micro-tilt time window. During the advance, the micro-tilt amplitude is kept constant. The constant meaning is defined as the angle around the insertion axis not being adjusted within the given value and safety limit of the strategy network. The micro-tilt direction is locked, and no secondary inference or amplitude correction is performed. Servo attitude maintenance is used to continue the end effector contact relationship through geometric yielding without triggering new micro-tilt actions.

7. A self-guiding control system for the end effector of a mobile robotic arm, characterized in that, include: The acquisition module is configured to acquire at least the state parameters of the moving robot arm, including the insertion axis, the micro-tilt direction, and the micro-tilt time window. The judgment module is configured to determine the position state of the end effector of the mobile robotic arm based on the acquired state parameters. The calculation module is configured to calculate the micro-tilt angle amplitude when the end effector of the mobile robotic arm is in contact monitoring mode and the micro-tilt angle time window is activated. The generation module is configured to have the end effector of the mobile robotic arm perform a micro-tilt motion around the insertion axis within a micro-tilt time window based on the micro-tilt direction and micro-tilt amplitude, and generate a propulsion evaluation result after the motion is completed. Based on the generated propulsion evaluation result, when the mobile robotic arm completes lateral load fall-off and obstruction elimination, a propulsion permission signal and a propulsion stroke target for the mobile robotic arm are generated. The generated propulsion evaluation result is defined as a combination of lateral load state, normal load change trend, and propulsion permission indication. Lateral load fall-off is defined as the lateral load state decreasing from the value at the end of the micro-tilt time window and falling below the risk threshold and remaining stable. Obstruction elimination is defined as the propulsion obstruction criterion along the insertion axis not being met, and the displacement increment recovering to above the set lower limit. The lateral load fall-off and obstruction elimination are simultaneously confirmed. The control module is configured to allow the mobile robotic arm to perform insertion or slotting along the insertion axis based on the generated propulsion permission signal, while the end of the mobile robotic arm maintains a constant micro-tilt angle during propulsion. After completing the target travel distance, the mobile robotic arm exits the micro-tilt time window and completes the self-guiding control of the end effector.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the self-guiding control method for the end effector of a mobile robotic arm as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the self-guiding control method for the end effector of a mobile robotic arm as described in any one of claims 1-6.

10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of the self-guiding control method for the end effector of the mobile robotic arm as described in any one of claims 1-6.

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