A robot master hand control method, device, controller, storage medium and program product

Abstract

This invention discloses a robot master hand control method, device, controller, storage medium, and program product. The method is applied to a controller integrated into a robot, which includes a master hand. The method includes: determining the motion acceleration of the master hand's end effector, wherein the direction of the motion acceleration represents the direction of the operator's desired operation; determining the operation assist torque applied to the master hand's end effector to assist the operator's operation based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operation assist torque; and determining the joint assist torque of the master hand's joints based on the operation assist torque, so as to control the movement of the master hand according to the joint assist torque. The technical solution of this invention, by controlling the master hand to move in the direction of the operator's desired operation, can effectively assist the operator, thereby reducing operator fatigue.

Description

[0001] This application is a divisional application of patent application number 202410799443.5 (the original application was filed on June 20, 2024, and the invention was entitled "A Robot Master Hand Control Method, Device, Controller, Storage Medium and Program Product"). Technical Field

[0002] The embodiments of the present invention relate to the field of robot technology, and in particular to a robot master control method, device, controller, storage medium and program product. Background Technology

[0003] Laparoscopic surgical robots are a product of the integration of modern medical technology and robotics. With the continuous development of laparoscopic surgical robots, their application in laparoscopic surgery is increasing.

[0004] The laparoscopic surgical robot consists of a master arm and a slave arm. Surgeons can control the movement of the slave arm by manipulating the master arm to perform surgery. Obviously, this can lead to operator fatigue and needs improvement. Summary of the Invention

[0005] This invention provides a robot master hand control method, device, controller, storage medium, and program product to assist operators in operating the master hand, thereby reducing operator fatigue.

[0006] According to one aspect of the present invention, a robot master hand control method is provided, which can be applied to a controller integrated on a robot, the robot including a master hand, the method comprising:

[0007] For the distal end of the master hand, determine the motion acceleration of the distal end, where the direction of motion acceleration represents the direction of the operator's desired operation.

[0008] For the operating assist torque applied to the end of the main hand to assist the operator in operating the main hand, the operating assist torque is determined based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operating assist torque;

[0009] For the master hand joint, the joint assist torque of the master hand joint is determined based on the operation assist torque, so as to control the movement of the master hand according to the joint assist torque.

[0010] According to another aspect of the present invention, a robot master hand control device is provided, the device being configured on a controller integrated on a robot, the robot including a master hand, the device comprising:

[0011] The motion acceleration determination module is used to determine the motion acceleration of the distal end of the master hand, wherein the direction of motion acceleration represents the direction of the operator's desired operation.

[0012] The operation assist torque determination module is used to determine the operation assist torque applied to the end of the main hand to assist the operator in operating the main hand, based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operation assist torque;

[0013] The robot master hand control module is used to determine the joint assist torque of the master hand joint based on the operation assist torque, so as to control the movement of the master hand according to the joint assist torque.

[0014] According to another aspect of the present invention, a controller is provided integrated on a robot, the robot including a master arm, the controller comprising:

[0015] At least one processor; and

[0016] A memory that is communicatively connected to at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by at least one processor, such that when the at least one processor executes the program, it implements the robot master control method provided in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided having computer instructions stored thereon for causing a processor to execute and implement the robot master control method provided in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer program product is provided, on which a computer program is stored, which, when executed by a processor, implements the robot master control method provided in any embodiment of the present invention.

[0020] The technical solution in this embodiment of the invention determines the motion acceleration of the end effector of the master hand in the robot, and determines the operating assist torque applied to the end effector based on the motion acceleration. The direction of the motion acceleration represents the direction of the operator's desired operation of the master hand, and the assist torque is in the same direction as the motion direction. Therefore, the operating assist torque assists the operator in operating the master hand. Furthermore, based on the operating assist torque, a joint assist torque is determined applied to the joints of the master hand, so that the joints of the master hand are controlled to move in the motion direction, i.e., the master hand is controlled to move in the motion direction. This technical solution, by controlling the movement of the master hand in the direction of the operator's desired operation, effectively assists the operator in operating the master hand, thereby reducing operator fatigue.

[0021] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a robot master hand control method provided according to an embodiment of the present invention;

[0024] Figure 2 This is a flowchart of another robot master control method provided by an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of another robot master control method provided according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of an optional example of another robot master hand control method provided according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the rotational joint geometry model in another robot master hand control method provided by an embodiment of the present invention;

[0028] Figure 6 This is a structural block diagram of a robot master control device according to an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the controller that implements the robot master hand control method of this invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The same applies to "target," "original," etc., and will not be repeated here. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Figure 1 This is a flowchart of a robot master hand control method provided in an embodiment of the present invention. This embodiment is applicable to robot master hand control, particularly to surgical robot master hand control, and especially to laparoscopic surgical robot master hand control. The method can be executed by the robot master hand control device provided in this embodiment of the present invention. This device can be implemented by software and / or hardware, and can be configured on a controller, which can be integrated into a robot, which may include a master hand.

[0033] See Figure 1 The method of this invention specifically includes the following steps:

[0034] S110. For the distal end of the master hand, determine the motion acceleration of the distal end of the master hand, wherein the motion direction of the motion acceleration represents the direction of the operator's desired operation of the master hand.

[0035] The term "master hand end" can be understood as the end of the master hand. In the context of possible application scenarios in this invention, it could be the part of the master hand that the operator touches on the master hand.

[0036] During the operation of the main hand, the motion acceleration of the end effector of the main hand can be determined. This motion acceleration can be understood as the acceleration of the end effector during the motion process. The change of this motion acceleration is caused by the operator's desired operation. Therefore, the direction of this motion acceleration can characterize the direction of the desired operation.

[0037] In light of the application scenarios that may be involved in the embodiments of the present invention, the motion acceleration can optionally be determined through the following steps:

[0038] Multiply the link transformation matrices of each link in the robot to obtain the master hand transformation matrix; based on the master hand transformation matrix, obtain the forward kinematic equation of the master hand; based on the forward kinematic equation, obtain the motion position of the master hand end effector, specifically the real-time position of the master hand end effector during motion; based on the position change, obtain the motion velocity of the master hand end effector, specifically the real-time velocity of the master hand end effector during motion; further, based on the velocity change, obtain the motion acceleration of the master hand end effector, specifically the real-time acceleration of the master hand end effector during motion.

[0039] Of course, other methods can also be used to determine the acceleration of motion, and no specific limitations are made here.

[0040] S120. For the operating assist torque applied to the end of the main hand to assist the operator in operating the main hand, the operating assist torque is determined according to the motion acceleration, wherein the motion direction is the same as the assist direction of the operating assist torque.

[0041] The operating assist torque can be understood as the torque applied to the end of the main hand to assist the operator in operating the main hand. The assist direction can be understood as the direction of the operating assist torque.

[0042] As mentioned above, the change in motion acceleration is caused by the operator's desired operation. Therefore, the operating assist torque can be determined based on the motion acceleration to make the direction of motion the same as the direction of assistance. Thus, the operating assist torque can be used to control the main hand to move in the direction of motion, thereby assisting the operator in operating the main hand.

[0043] In conjunction with the application scenarios that may be involved in the embodiments of the present invention, optionally, the operating assistance torque can be determined through the following steps: obtaining a preset assistance coefficient, and determining the operating assistance torque based on the preset assistance coefficient and the motion acceleration. The preset assistance coefficient can be understood as a preset coefficient used to determine the operating assistance torque. The operating assistance torque is determined based on the preset assistance coefficient and the motion acceleration. For example, the operating assistance torque can be obtained based on the sum of the preset assistance coefficient and the motion acceleration; or it can be obtained based on the product of the preset assistance coefficient and the motion acceleration, that is, by proportionally scaling the motion magnitude to obtain the operating assistance torque; and so on, without limitation.

[0044] S130. For the master hand joint, determine the joint assist torque of the master hand joint based on the operation assist torque, so as to control the movement of the master hand based on the joint assist torque.

[0045] The master hand joint can be understood as the joint within the master hand. The number of master hand joints is related to the master hand's degrees of freedom. For example, if the master hand has N degrees of freedom, then the number of master hand joints is N, where N is a positive integer.

[0046] Joint assist torque can be understood as the torque applied to the primary hand joint to cause it to move in the direction of motion. Based on the operational assist torque, the joint assist torque of the primary hand joint is determined, i.e., the joint assist torque corresponding to each of the N primary hand joints is determined. In practical applications, optionally, the operational assist torque can be converted into joint assist torque based on the relationship model between joint torque and generalized spatial torque.

[0047] Furthermore, based on the joint assist torque, the main hand is controlled to move in the direction of motion (i.e., the direction the operator desires to operate), thus providing assistance to the operator in that direction. In practical applications, optionally, the main hand joint can be controlled to move in the direction of motion via a motor within the main hand joint, based on the joint assist torque, thereby achieving the effect of controlling the main hand to move in that direction; that is, the assist effect is achieved through motor compensation.

[0048] The technical solution in this embodiment of the invention determines the motion acceleration of the end effector of the master hand in the robot, and determines the operating assist torque applied to the end effector based on the motion acceleration. The direction of the motion acceleration represents the direction of the operator's desired operation of the master hand, and the assist torque is in the same direction as the motion direction. Therefore, the operating assist torque assists the operator in operating the master hand. Furthermore, based on the operating assist torque, a joint assist torque is determined applied to the joints of the master hand, so that the joints of the master hand are controlled to move in the motion direction, i.e., the master hand is controlled to move in the motion direction. This technical solution, by controlling the movement of the master hand in the direction of the operator's desired operation, effectively assists the operator in operating the master hand, thereby reducing operator fatigue.

[0049] An alternative technical solution, the above-mentioned robot master control method, further includes:

[0050] Based on the Newton-Euler recursive dynamics algorithm, the joint inertial torque of the link center of mass of the main hand joint and the joint driving torque between the links of the main hand joint are determined.

[0051] Based on the joint inertial torque and the joint driving torque, the dynamic balance driving torque of the main hand joint is obtained;

[0052] Controlling the movement of the dominant hand based on joint-assisted torque includes:

[0053] The movement of the dominant hand is controlled based on the joint assist torque and the dynamic balance driving torque.

[0054] To ensure the dynamic balance of the master hand joint during movement, a Newton-Euler recursive dynamics algorithm can be used to determine the joint inertial torque of the link center of mass in the master hand joint. For example, the joint inertial torque can be determined based on the angular velocity, linear acceleration, and angular acceleration of the link center of mass. Additionally, the joint driving torque between the links in the master hand joint can be determined, for example, based on the interaction forces and torques between the links. Furthermore, based on the joint inertial torque and the joint driving torque, the dynamic balance driving torque applied to the master hand joint is obtained. In this way, the movement of the master hand joint can be controlled jointly by the joint assist torque and the dynamic balance driving torque, thereby controlling the movement of the master hand.

[0055] The above technical solution, by applying dynamic balance driving torque, can ensure the dynamic balance of the main hand during the movement while the main hand moves in the direction of movement.

[0056] Figure 2 This is a flowchart of another robot master hand control method provided in this embodiment of the invention. This embodiment is based on and optimized from the above-mentioned technical solutions. In this embodiment, optionally, the above-mentioned robot master hand control method may further include: acquiring the operator's preset desired operation acceleration; determining the damping torque based on the desired operation acceleration and the motion acceleration, for the damping torque applied to the end of the master hand; determining the assisting impedance torque of the master hand joint based on the damping torque; correspondingly, controlling the movement of the master hand based on the joint assisting torque, including: controlling the movement of the master hand based on the joint assisting torque and the assisting impedance torque. The explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0057] See Figure 2 The method in this embodiment may specifically include the following steps:

[0058] S210. For the distal end of the master hand, determine the motion acceleration of the distal end of the master hand, wherein the motion direction of the motion acceleration represents the direction of the operator's desired operation of the master hand.

[0059] S220. For the operating assist torque applied to the end of the main hand to assist the operator in operating the main hand, the operating assist torque is determined based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operating assist torque.

[0060] S230: Obtain the operator's preset desired operating acceleration, and determine the damping torque based on the desired operating acceleration and motion acceleration, for the damping torque applied to the end of the main hand.

[0061] The desired operating acceleration is obtained through a preset. Since the operating habits of different operators may differ, each operator has their own (i.e., adaptive) desired operating acceleration, which represents the acceleration that the corresponding operator expects (or is used to) when operating the main hand.

[0062] It should be noted that when assisting the operator based on joint-assisted torque, overshoot may occur, meaning the dominant hand moves uncontrollably, contrary to the operator's intentions. In this case, it not only fails to assist the operator but also hinders their operation. Therefore, to avoid this situation, an assisting resistance torque can be added to the joint-assisted torque, applied to the distal end of the dominant hand. This assisting resistance torque will then pull the dominant hand's movement back within the operator's intended range of motion.

[0063] Specifically, the damping torque can be understood as the torque applied to the end of the main hand to provide a stopping effect. In this embodiment of the invention, the damping torque can optionally also be called the deviation damping torque, because it reflects the deviation between the desired operating acceleration and the motion acceleration. The damping torque is determined based on the desired operating acceleration and the motion acceleration, specifically based on the numerical difference between the two.

[0064] S240. For the master hand joint, determine the joint assist torque of the master hand joint based on the operating assist torque, and determine the assist resistance torque of the master hand joint based on the damping torque, so as to control the movement of the master hand based on the joint assist torque and assist resistance torque.

[0065] The assisting resistance torque can be understood as the torque applied to the primary hand joint to resist assisting movement. The process of determining the assisting resistance torque based on the damping torque is similar to the process of determining the joint assisting torque based on the operating assisting torque, and will not be elaborated further here. Furthermore, the primary hand movement can be controlled jointly based on the joint assisting torque and the assisting resistance torque.

[0066] The technical solution of this invention, by applying assisting resistance torque, can assist the operator in operating the main hand while avoiding situations where the movement of the main hand after assistance goes against the operator's operating intention.

[0067] An alternative technical solution, the above-mentioned robot master control method, further includes:

[0068] Obtain the operator's preset desired operating speed and determine the movement speed of the main hand end effector;

[0069] Determine the velocity damping torque based on the motion speed and the desired operating speed;

[0070] The damping torque is determined based on the desired operating acceleration and the motion acceleration, including:

[0071] Determine the acceleration damping torque based on the desired operating acceleration and the motion acceleration;

[0072] The damping torque is determined based on the velocity damping torque and the acceleration damping torque.

[0073] Here, the damping torque determined based on acceleration mentioned above is referred to as the acceleration damping torque.

[0074] In practical applications, the operator's operating habits can be reflected not only in acceleration but also in speed. Therefore, the operator's preset desired operating speed and the movement speed of the master end can be obtained, and then the speed damping torque can be determined based on the movement speed and the desired operating speed.

[0075] Then, the damping torque can be determined based on the velocity damping torque and the acceleration damping torque, so that the subsequent assisting impedance torque can make the surgical movement process conform to the operator's intention in terms of both speed and acceleration.

[0076] Figure 3 This is a flowchart of another robot master hand control method provided in this embodiment of the invention. This embodiment is an optimization based on the above-mentioned technical solutions. Optionally, in this embodiment, the above-mentioned robot master hand control method may further include: determining the static friction torque, dynamic friction torque, and viscous friction resistance torque of the master hand joint; obtaining the friction compensation torque of the master hand joint based on the static friction torque, dynamic friction torque, and viscous friction resistance torque; controlling the movement of the master hand based on the joint assist torque, including: controlling the movement of the master hand based on the joint assist torque and the friction compensation torque. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0077] See Figure 3 The method in this embodiment may specifically include the following steps:

[0078] S310. For the distal end of the master hand, determine the motion acceleration of the distal end of the master hand, wherein the motion direction of the motion acceleration represents the direction of the operator's desired operation of the master hand.

[0079] S320. For the operating assist torque applied to the end of the main hand to assist the operator in operating the main hand, the operating assist torque is determined based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operating assist torque.

[0080] S330. Determine the static friction torque, dynamic friction torque, and viscous friction resistance torque of the main hand joint. Based on the static friction torque, dynamic friction torque, and viscous friction resistance torque, obtain the friction compensation torque of the main hand joint.

[0081] It should be noted that the Newton-Euler recursive dynamics algorithm can only balance gravity and centrifugal force, but cannot balance friction, so additional friction compensation is required.

[0082] Static friction torque can be understood as the torque of static friction applied to the main hand joint, while dynamic friction torque can be understood as the torque of sliding friction applied to the main hand joint. Viscous friction torque appears with the increase of the joint rotation speed of the main hand joint and is linearly proportional to the joint rotation speed.

[0083] The static friction torque, dynamic friction torque, and viscous friction resistance torque of the master hand joint are determined, and then the friction compensation torque applied to the master hand joint is obtained based on these three factors. In practical applications, optionally, the critical transition between static and dynamic friction torques is considered, which involves the joint angular velocity of the master hand joint. Therefore, the friction compensation torque can be determined jointly based on the static friction torque, dynamic friction torque, viscous friction resistance torque, and joint angular velocity, thereby improving the accuracy of the friction compensation torque determination.

[0084] S340. For the master hand joint, determine the joint assist torque of the master hand joint based on the operation assist torque, so as to control the movement of the master hand based on the joint assist torque and the friction compensation torque.

[0085] The system can control the movement of the main hand by combining the joint assist torque and the friction compensation torque, thereby assisting the operator in operating the main hand while also compensating for friction during the movement of the main hand.

[0086] The technical solution of this invention achieves effective friction compensation during the movement of the main hand through the mutual coordination of static friction torque, dynamic friction torque, and viscous friction resistance torque.

[0087] To better understand the various technical solutions described above, specific examples are provided below. For instance, a 7-DOF surgical robot is used as an example; see [link to relevant documentation]. Figure 4 The illustrated process of dynamic balance expectation operation perception assistance for a 7-DOF master hand based on motor compensation is as follows:

[0088] 1. Utilizing an assist torque model to assist doctors in operating a 7-DOF (DoF) primary hand:

[0089] Based on the link transformation matrix of each link in a 7-DOF surgical robot ( - Multiplying these matrices yields the master-hand transformation matrix for the 7-DOF master hand. :

[0090] ;

[0091] Among them, each It is the joint angle of the main hand joint corresponding to the corresponding link;

[0092] The forward kinematic equations for the 7-DOF master hand are:

[0093] ;

[0094] Based on this, for the end effector of the 7-DOF master hand, the real-time position of the end effector in the x-direction in Cartesian space during motion can be extracted. Real-time position in the y-direction and real-time position in the z-direction .in, It is relative to the reference coordinate system, and each direction of each coordinate axis can be represented by the three direction cosines relative to the reference coordinate system.

[0095] Furthermore, based on the positional changes at each of the aforementioned real-time locations, the real-time velocity of the end effector in the x-direction within Cartesian space during its motion is obtained. Real-time velocity in the y-direction and the real-time velocity in the z-direction ,in,

[0096] ;

[0097] ;

[0098] .

[0099] Furthermore, based on the velocity changes of the aforementioned real-time velocities, the real-time acceleration of the end effector in the x-direction in Cartesian space during the motion is obtained. Real-time acceleration in the y-direction and real-time acceleration in the z-direction ,in,

[0100] ;

[0101] ;

[0102] .

[0103] It should be noted that the real-time acceleration change is generated by the doctor's desired operation. To assist the doctor in moving in the direction of the desired operation, a joint assist torque is applied in the direction of the doctor's desired operation. The direction of the joint assist torque is the same as the direction of the real-time acceleration, and the magnitude of the joint assist torque is...

[0104] The motion is scaled proportionally to the magnitude of the real-time acceleration, therefore the joint assist torque In the x, y, and z directions, respectively, they are represented as follows:

[0105] ;

[0106] ;

[0107] ;

[0108] in, This is the preset assist coefficient.

[0109] Furthermore, based on the relationship model between joint torque and generalized spatial torque, we can see that:

[0110] ;

[0111] in, The Jacobian matrix for a 7-DOF master hand; The joint assist torque, in this example, is represented by the following formula, where... — Corresponding to the 7 main hand joints;

[0112] ;

[0113] Joint assist torque This can be expressed by the following formula:

[0114] ;

[0115] Therefore, the assist torque of each joint under the assist torque model can be obtained. , , , , , and .

[0116] 2. Use the assist impedance model to prevent overshoot of the main hand movement:

[0117] To prevent motion overshoot from occurring in the joint assist torque model, an adaptive deviation damping / resistance torque is added to the assist torque model, as shown in the following model:

[0118] ;

[0119] ;

[0120] ;

[0121] in, , and To apply damping torques to the end of the main arm in each direction, The preset acceleration damping coefficient, The preset velocity damping coefficient, To provide doctors with adaptive expected operational acceleration, The expected speed of operation is adapted to the doctor.

[0122] Furthermore, based on the relationship model between joint torque and generalized spatial torque, we can see that:

[0123] ;

[0124] in, The Jacobian matrix for a 7-DOF master hand; To assist the resistance torque, in this example, it is expressed by the following formula, where... — Corresponding to the 7 main hand joints:

[0125] ;

[0126] Damping torque This can be expressed by the following formula:

[0127] ;

[0128] Therefore, the torques of each assist resistance under the assist resistance model can be obtained. , , , , , and .

[0129] 3. Using a friction compensation model to compensate for friction during the main hand's movement:

[0130] For example, see Figure 5 The shown rotational joint geometry generates constraint forces and constraint moments in three directions (x, y, z) at the joint, including F. x F y F z T x T y And Tz. For the rotary joint considered in this example, the two links will generate frictional torque when they rotate relative to each other.

[0131] Based on this, the equivalent pressure N1 generated by the axial constraint of the joint is:

[0132] ;

[0133] The equivalent pressure N2 under the lateral constraint of the joint is:

[0134] ;

[0135] The normal pressure N3 caused by the joint constraint torque is:

[0136] ;

[0137] Among them, R b It is the bending reaction arm.

[0138] Based on this, the maximum dynamic friction torque T generated by the joint constraint force and the joint constraint torque fc and maximum static friction torque T fs It can be written as:

[0139] ;

[0140] ;

[0141] Where, μ d It is the coefficient of kinetic friction, μ s It is the static friction coefficient, R n It is a friction arm, R p It is the pin radius.

[0142] Furthermore, the dynamic / static friction force T considering only the movement of the primary hand joint can be obtained. c for:

[0143] ;

[0144] in, It refers to the joint angular velocity of the main hand joint.

[0145] As the rotational speed of the primary hand joint increases, a viscous frictional resistance torque appears, which is linearly proportional to the joint rotational speed. After the static-dynamic conversion, the change in frictional torque in the low-speed region is still considered to be related to the joint angular velocity. If they are linearly proportional, then consider the joint angular velocity. Friction force T v for:

[0146] ;

[0147] in, This is the viscous resistance coefficient.

[0148] Consider the nonlinear phenomenon of joint friction in the low-speed region of the primary hand joint movement. That is, after the primary hand joint overcomes static friction, the friction transitions from static to sliding friction, and this friction is not continuous. In the low-speed region, the frictional torque increases with the joint angular velocity. Increasing the friction compensation model actually decreases it, resulting in the friction compensation model for this example:

[0149] ;

[0150] in, For friction compensation identification coefficients, Let be the joint angular velocity of the i-th primary hand joint. It is a parameter related to nonlinearity. It is the frictional compensation torque of the i-th main hand joint.

[0151] Based on this, the frictional compensation torque of each major hand joint can be obtained. , , , , , and .

[0152] 4. Utilize a dynamic equilibrium model to achieve dynamic equilibrium during the main hand's movement:

[0153] Based on the Newton-Euler recursive dynamics algorithm, the dynamic equilibrium driving torque of each major hand joint can be obtained. , , , , , and .

[0154] Combining the four models mentioned above, by adding the joint assist torque, assist resistance torque, friction compensation torque, and dynamic balance drive torque of each main hand joint, we can obtain the expected operation sensing assist torque for the 7-DOF main hand dynamic balance based on motor compensation. — :

[0155] .

[0156] The above example can assist doctors in operating the 7-DOF main hand without violating their operational intentions, and through friction compensation, enable the 7-DOF main hand to maintain multifaceted dynamic balance during movement.

[0157] Figure 6This is a structural block diagram of a robot master hand control device provided in an embodiment of the present invention. This device is used to execute the robot master hand control method provided in any of the above embodiments. This device and the robot master hand control methods of the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the robot master hand control device can be found in the embodiments of the robot master hand control methods described above. See also... Figure 6 The device is configured on a controller, which is integrated into the robot, which includes a main hand. Specifically, the device may include: a motion acceleration determination module 410, an operation assist torque determination module 420, and a robot main hand control module 430.

[0158] The motion acceleration determination module 410 is used to determine the motion acceleration of the end effector of the master hand for the master hand, wherein the direction of motion acceleration represents the direction of the operator's desired operation of the master hand;

[0159] The operation assist torque determination module 420 is used to determine the operation assist torque applied to the end of the main hand to assist the operator in operating the main hand, based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operation assist torque;

[0160] The robot master hand control module 430 is used to determine the joint assist torque of the master hand joint based on the operation assist torque, so as to control the movement of the master hand according to the joint assist torque.

[0161] Optionally, the operating assist torque determination module 420 may include:

[0162] The preset assist coefficient acquisition unit is used to acquire the preset assist coefficient;

[0163] The operating assist torque determination unit is used to determine the operating assist torque based on the preset assist coefficient and motion acceleration.

[0164] Based on this, optionally, the operating assist torque determination unit is specifically used for:

[0165] The operating assist torque is obtained by multiplying the preset assist coefficient and the motion acceleration.

[0166] Optionally, the above-mentioned robot master control device further includes:

[0167] The desired operation acceleration acquisition module is used to acquire the operator's preset desired operation acceleration;

[0168] The damping torque determination module is used to determine the damping torque applied to the end of the main hand based on the desired operating acceleration and motion acceleration.

[0169] The assisting impedance torque determination module can be used to determine the assisting impedance torque of the master hand joint based on the damping torque.

[0170] The robot master control module 430 includes:

[0171] The first control unit of the robot's main hand is used to control the movement of the main hand based on the joint assist torque and assist resistance torque.

[0172] Based on this, optionally, the above-mentioned robot master control device also includes:

[0173] The motion speed determination module is used to obtain the operator's preset desired operation speed and determine the motion speed of the main hand end effector.

[0174] The speed damping torque determination module is used to determine the speed damping torque based on the motion speed and the desired operating speed.

[0175] The damping torque determination module includes:

[0176] An acceleration damping torque determination unit is used to determine the acceleration damping torque based on the desired operating acceleration and motion acceleration.

[0177] The damping torque determination unit is used to determine the damping torque based on the velocity damping torque and the acceleration damping torque.

[0178] Optionally, the above-mentioned robot master control device further includes:

[0179] The viscous friction resistance torque determination module is used to determine the static friction torque, dynamic friction torque, and viscous friction resistance torque of the main hand joint;

[0180] The friction compensation torque acquisition module is used to obtain the friction compensation torque of the main hand joint based on the static friction torque, dynamic friction torque, and viscous friction resistance torque.

[0181] The robot master control module 430 includes:

[0182] The second control unit of the robot's main hand is used to control the movement of the main hand based on the joint assist torque and friction compensation torque.

[0183] Based on this, optionally, the above-mentioned robot master control device also includes:

[0184] The joint angular velocity acquisition module is used to obtain the joint angular velocity of the main hand joint;

[0185] The friction compensation torque acquisition module is specifically used for:

[0186] The friction compensation torque of the main hand joint is obtained based on the static friction torque, dynamic friction torque, viscous friction resistance torque, and joint angular velocity.

[0187] Optionally, the above-mentioned robot master control device further includes:

[0188] The joint driving torque determination module is used to determine the joint inertial torque of the link center of mass of the main hand joint and the joint driving torque between the links of the main hand joint based on the Newton-Euler recursive dynamics algorithm.

[0189] The dynamic balance driving torque acquisition module is used to obtain the dynamic balance driving torque of the main hand joint based on the joint inertial torque and the joint driving torque.

[0190] The robot master control module 430 includes:

[0191] The third control unit of the robot's main hand is used to control the movement of the main hand based on the joint assist torque and dynamic balance drive torque.

[0192] The robot master hand control device provided in this embodiment of the invention uses a motion acceleration determination module and an operation assist torque determination module to cooperate in determining the motion acceleration of the end effector of the robot master hand. Based on the motion acceleration, an operation assist torque is determined and applied to the end effector. The direction of the motion acceleration represents the direction of the operator's desired operation of the master hand. The direction of the operation assist torque is the same as the motion direction, thus assisting the operator in operating the master hand. Furthermore, the robot master hand control module determines the joint assist torque applied to the master hand joints based on the operation assist torque, so as to control the master hand joints to move in the motion direction, i.e., control the master hand to move in the motion direction. By controlling the master hand to move in the direction of the operator's desired operation, the above device can effectively assist the operator in operating the master hand, thereby reducing the operator's fatigue.

[0193] The robot master control device provided in the embodiments of the present invention can execute the robot master control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0194] It is worth noting that in the embodiments of the robot master control device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0195] Figure 7A schematic diagram of a controller 10, which can be used to implement embodiments of the present invention, is shown. The controller is integrated onto a robot, which includes a main arm. The controller is intended to represent various forms of digital computers, such as laptops, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The controller can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0196] like Figure 7 As shown, the controller 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the controller 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0197] Multiple components in the controller 10 are connected to the I / O interface 15, and may include: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the controller 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0198] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as robot master hand control methods.

[0199] In some embodiments, the robot master control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on controller 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the robot master control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the robot master control method by any other suitable means (e.g., by means of firmware).

[0200] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0201] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0202] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0203] To provide interaction with the user, the systems and techniques described herein can be implemented on a controller having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the controller. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0204] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0205] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0206] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0207] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A robot master hand control method, characterized in that, The method is applied to a controller integrated into a robot, the robot including a main arm, and includes: For the distal end of the master hand, determine the motion acceleration of the distal end, wherein the direction of motion acceleration represents the direction of the operator's desired operation of the master hand; For the operating assist torque applied to the end of the main hand to assist the operator in operating the main hand, the operating assist torque is determined based on the motion acceleration, wherein the motion direction is the same as the assist direction of the operating assist torque; For the main hand joint, determine the static friction torque, dynamic friction torque, viscous friction resistance torque, and joint angular velocity of the main hand joint; Based on the operating assist torque, the joint assist torque of the master hand joint is determined, and based on the static friction torque, the dynamic friction torque, the viscous friction resistance torque and the joint angular velocity, the friction compensation torque of the master hand joint is determined, so as to control the movement of the master hand according to the joint assist torque and the friction compensation torque; Determining the motion acceleration of the end effector includes: Multiply the link transformation matrices of each link in the robot to obtain the master hand transformation matrix, and obtain the positive kinematic equation of the master hand based on the master hand transformation matrix; Based on the forward kinematic equations, the motion position of the distal end of the dominant hand is obtained, and based on the positional changes of the motion position, the motion velocity of the distal end of the dominant hand is obtained. Based on the velocity change of the motion speed, the motion acceleration of the end effector of the main hand is obtained.

2. The method according to claim 1, characterized in that, Determining the operating assist torque based on the motion acceleration includes: Obtain the preset boost coefficient; The operating assist torque is determined based on the preset assist coefficient and the motion acceleration.

3. The method according to claim 2, characterized in that, The step of determining the operating assist torque based on the preset assist coefficient and the motion acceleration includes: The operating assist torque is obtained by multiplying the preset assist coefficient and the motion acceleration.

4. The method according to claim 1, characterized in that, The step of determining the joint assist torque of the main hand joint based on the operational assist torque includes: Based on the relationship model between the joint torque of the main hand joint and the generalized spatial torque, the operation assist torque is converted into the joint assist torque of the main hand joint.

5. The method according to claim 1, characterized in that, The method of controlling the movement of the main hand based on the joint assist torque and the friction compensation torque includes: The movement of the main hand is controlled by a motor within the main hand joint based on the joint assist torque and the friction compensation torque.

6. A robot master hand control device, characterized in that, Configured on a controller, the device is used to execute the robot master control method according to any one of claims 1-5, the device comprising: The motion acceleration determination module is used to determine the motion acceleration of the end effector of the master hand, wherein the direction of motion acceleration represents the direction of the operator's desired operation of the master hand; An operation assist torque determination module is used to determine the operation assist torque based on the motion acceleration, for example, the operation assist torque applied to the end of the main hand to assist the operator in operating the main hand, wherein the motion direction is the same as the assist direction of the operation assist torque; The robot master hand control module is used to determine the joint assist torque of the master hand joint based on the operation assist torque, so as to control the movement of the master hand according to the joint assist torque; The motion acceleration determination module is specifically used for: Multiply the link transformation matrices of each link in the robot to obtain the master hand transformation matrix, and obtain the positive kinematic equation of the master hand based on the master hand transformation matrix; Based on the forward kinematic equations, the motion position of the distal end of the dominant hand is obtained, and based on the positional changes of the motion position, the motion velocity of the distal end of the dominant hand is obtained. Based on the velocity change of the motion speed, the motion acceleration of the end effector of the main hand is obtained.

7. A controller, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to cause the at least one processor to perform the robot master control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the robot master control method as described in any one of claims 1-5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the robot master control method as described in any one of claims 1-5.

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