Linear servo joint reverse driving control method and system

Abstract

The invention belongs to the technical field of robot control, and discloses a linear servo joint reverse drive control method and system, and the method comprises the steps: calibrating a force sensor, so as to eliminate zero offset and calibrate the sensitivity; based on a force sensor signal and a motor current feedback signal, multi-source external force sensing is carried out, and an equivalent external force is obtained through weighted fusion; filtering the equivalent external force, and judging whether to switch to a reverse driving mode or not according to the signal characteristics of the processed equivalent external force and preset conditions; in the reverse driving mode, the processed equivalent external force signal is input into the active control model, an expected displacement instruction is output, and the linear servo joint is driven to move; and in the motion process, historical motion data are collected, and iterative optimization is performed on parameters of the active control model based on the historical motion data. On the premise of not changing a transmission structure of the rotating motor and the planetary roller screw, high-precision and high-flexibility reverse driving is realized through multi-source sensing and active control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a linear servo joint reverse drive control method and system. BACKGROUND

[0002] The motion performance and load capacity of humanoid robots depend on their joint structure, mainly including rotary joints and linear joints. Among them, linear joints are widely used in the main supporting and load-bearing parts of robots such as double legs and double arms due to their high rigidity and high load capacity.

[0003] At present, linear servo joints are usually composed of rotary motors and planetary roller screws. The planetary roller screw converts the rotary motion of the motor into linear motion, which has the advantages of high precision, high rigidity and high load. However, this structure also has significant disadvantages: large reduction ratio and frictional resistance, and even the possibility of self-locking effect. These factors seriously weaken the reverse drive capability of the system. Reverse drive refers to the process of applying external force to the end of the actuator to drive the motor in reverse. Reverse drive capability is crucial for robots to interact safely and compliantly with the environment. If this capability is insufficient, the robot will produce a large impact when colliding, which is easy to cause mechanical damage, and also increases energy consumption due to excessive resistance.

[0004] In order to improve the reverse drive capability, some existing technologies abandon the use of planetary roller screws, such as using synchronous belts or gear racks. However, these mechanisms have problems such as elastic deformation or backlash, which leads to a decrease in positioning accuracy and a delay in dynamic response, sacrificing the core advantages of planetary roller screws and making it difficult to meet the high performance requirements of humanoid robots.

[0005] Therefore, how to effectively improve the reverse drive capability of linear servo joints while retaining the advantages of planetary roller screws has become a technical problem that needs to be solved in the field. SUMMARY

[0006] In order to solve the above problems, the present application provides a linear servo joint reverse drive control method and system, which realizes high precision and high compliance reverse drive through multi-source perception and active control without changing the transmission structure of rotary motors and planetary roller screws.

[0007] In order to achieve the above purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a linear servo joint reverse drive control method, comprising the following steps: Calibrate the force sensor to eliminate zero point offset and calibrate sensitivity; Based on the force sensor signal and the motor current feedback signal, multi-source external force perception is performed, and the equivalent external force is obtained through weighted fusion; filtering the equivalent external force, and determining whether to switch to the inverse drive mode according to a processed equivalent external force signal feature and a preset condition; In the inverse drive mode, the processed equivalent external force signal is input to an active control model, and an expected displacement instruction is output to drive the linear servo joint movement; In the movement process, historical movement data is collected, and the parameters of the active control model are iteratively optimized based on the historical movement data.

[0008] As an optional implementation, the force sensor is calibrated, specifically: Record the zero point offset in the no-load environment; Get the calibration point data by hanging a standard mass block, and use the least squares method to fit to get the sensitivity coefficient; Convert the original sensor data into physical force values based on the zero point offset and the sensitivity coefficient.

[0009] As an optional implementation, multi-source external force sensing is specifically: Calculate the feedback force value based on the motor torque constant, current feedback value and transmission ratio; Weighted fusion of the feedback force value and the physical force value measured by the force sensor to obtain the equivalent external force, Wherein, the weight factor is adaptively adjusted according to the sensor noise level and the motor operating state.

[0010] As an optional implementation, determining whether to switch to the inverse drive mode is specifically: Compare the absolute value of the filtered equivalent external force signal with the preset physical force threshold value, when the absolute value of the equivalent external force signal is greater than the absolute value of the equivalent external force signal, trigger the inverse drive mode, combine the time window for debouncing processing to prevent false triggering, and realize the smooth switching of the control mode through the state machine and the hybrid control strategy.

[0011] As an optional implementation, the active control model is: ; Wherein, Indicates the expected displacement, is a stiffness parameter, is an impedance parameter, is an inertia parameter, Indicates the value of the filtered external force signal.

[0012] As an optional implementation, the iterative optimization of the active control model is specifically: Collect time series data of external force, position and speed; Evaluate the control parameter performance based on the speed tracking error, response delay and motion smoothness. The parameters of the active control model are automatically optimized in the parameter space using an optimization algorithm.

[0013] In a second aspect, the present application provides a linear servo joint inverse drive control system, comprising: The force sensor calibration module is configured to calibrate the force sensor to eliminate zero point deviation and calibrate sensitivity. The multi-source external force perception module is configured to perceive multi-source external force based on the force sensor signal and the motor current feedback signal, and obtain equivalent external force through weighted fusion. The signal processing and mode switching module is configured to filter the equivalent external force, and determine whether to switch to the inverse drive mode according to the processed equivalent external force signal characteristics and the preset conditions. The active control module is configured to input the processed equivalent external force signal into the active control model in the inverse drive mode, output a desired displacement instruction, and drive the linear servo joint to move. The parameter optimization module is configured to collect historical motion data during the motion process, and iteratively optimize the parameters of the active control model based on the historical motion data.

[0014] In a third aspect, the present application provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and running on the processor, when the computer instructions are run by the processor, the method of the first aspect is completed.

[0015] In a fourth aspect, the present application provides a computer readable storage medium for storing computer instructions, when the computer instructions are executed by the processor, the method of the first aspect is completed.

[0016] In a fifth aspect, the present application provides a computer program product comprising a computer program, when the computer program is executed by the processor, the method of the first aspect is completed.

[0017] Compared with the prior art, the present application has the following beneficial effects: The application provides a linear servo joint reverse drive control method, through an active control algorithm, friction and inertia of a planetary roller screw are actively offset by motor output torque, excellent reverse drive performance is realized without sacrificing high precision, high rigidity and high load advantages.

[0018] Advantages of the additional aspects of the application will be given partly in the following description, partly will become obvious from the following description, or will be known by the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings constituting a part of the specification of the application are used to provide further understanding of the application, the illustrative embodiments of the application and the description thereof are used to explain the application, and do not constitute improper limitation of the application.

[0020] Fig. 1 It is a structure schematic diagram of a linear servo joint reverse drive control system of the application. Fig. 2 It is a control flow chart of a linear servo joint reverse drive control method of the application.

[0021] In the figure, 1 is a rotary motor, 2 is a planetary roller screw, and 3 is a force sensor. DETAILED DESCRIPTION

[0022] The application will be further described below in combination with the drawings and embodiments.

[0023] It should be pointed out that the following detailed description is exemplary, and is intended to provide further description of the application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as that understood by ordinary skilled persons in the technical field to which the application belongs.

[0024] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and "comprising", when used in this specification, specify the presence of stated features, integers, steps, or components, but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0025] The embodiments in the present application and the features in the embodiments can be combined with each other in the case of no conflict.

[0026] Embodiment 1 As shown in the figure, the embodiment provides a linear servo joint inverse drive control method, comprising the following steps: Figs. 1-2 The force sensor 3 is calibrated to eliminate zero point offset and calibrate sensitivity; Based on the force sensor 3 signal and the motor current feedback signal, multi-source external force sensing is performed, and equivalent external force is obtained through weighted fusion; The equivalent external force is filtered, and whether to switch to the inverse drive mode is judged according to the processed equivalent external force signal characteristics and the preset condition; In the inverse drive mode, the processed equivalent external force signal is input into the active control model, the expected displacement instruction is output, and the linear servo joint is driven to move; In the process of movement, historical movement data is collected, and the parameters of the active control model are iteratively optimized based on the historical movement data.

[0027] The specific scheme of the present application is as follows: The present application realizes high-precision and high-compliance inverse drive of linear servo joint through multi-source external force sensing and intelligent optimization without changing the transmission structure of the rotary motor 1 and the planetary roller screw 2.

[0028] S1: The force sensor 3 is calibrated to eliminate zero point offset and calibrate sensitivity.

[0029] ​The force sensor 3 calibration of the linear servo joint is the basis for the subsequent inverse drive algorithm, and it is important for achieving good inverse drive effect. In order to ensure the accuracy and reliability of the data measured by the force sensor 3, we need to calibrate the force sensor 3 before the experiment, so as to improve the measurement accuracy of the force sensor 3 and indirectly improve the effect of the inverse drive algorithm. When calibrating the force sensor 3, we first connect the force sensor 3 at the end of the linear servo joint, and then let the whole system be in an environment without load and external force interference, and record the output value at this time as the zero offset. The zero offset needs to be subtracted from the subsequent sensor data to eliminate the inherent error of the force sensor 3. In addition, we need to calibrate the force sensor 3. Before using the force sensor 3 for inverse drive of the linear servo joint, we hang different mass standard masses at the end of the linear joint, record the force sensor 3 readings corresponding to each standard mass, and calculate the standard force generated by each standard mass. Finally, a set of calibration point data is obtained, and the least squares method is used to fit the calibration points to obtain the slope of the straight line, which is the sensitivity coefficient of the sensor. According to the sensitivity coefficient, the force sensor 3 can be calibrated. Finally, the conversion process from the original sensor data to the physical force data is: (physical force value) = (original data-zero offset) x sensitivity coefficient.

[0030] S2: Based on the force sensor 3 signal and the motor current feedback signal, multi-source external force sensing is performed, and the equivalent external force is obtained through weighted fusion.

[0031] In the final force information acquisition process, not only a single force sensor 3 is used, but also motor current feedback and force sensor 3 data are used for dual-channel external force detection. This multi-source fusion method can suppress the noise and zero drift of a single sensor, and improve the accuracy and robustness of external force detection. From the above calculation formula, the feedback force value obtained by current feedback is: ; Among them is the torque constant of the motor, is the current feedback, is the transmission ratio of the planetary roller screw.

[0032] The physical force value measured by the force sensor 3 and the feedback force value obtained by the motor current feedback are weighted and fused to obtain the final equivalent external force : ; Among them ​A weight factor between 0 and 1 can be adaptively adjusted according to the noise level of the sensor and the operating state of the motor. In the working condition of low speed and small force, the value of the motor current feedback is relatively small, and the value of the force sensor 3 is preferred, that is, a larger value is taken; in the working condition of high speed and large force, the feedback speed of the motor current is greater than the response speed of the force sensor 3, and the motor current feedback value is preferred, that is, a smaller value is taken.

[0033] S3: filtering the equivalent external force, and judging whether to switch to the reverse driving mode according to the signal characteristics of the processed equivalent external force and the preset condition.

[0034] The driver reads the force sensor 3 signal and the motor current feedback signal at a high frequency, and obtains an axial force signal after weighted fusion. The value directly reflects the thrust or pull force at the end of the linear servo joint, and is an important basis for judging whether the reverse driving process is performed. In order to suppress the interference caused by high-frequency electrical noise and mechanical vibration, and obtain an accurate, reliable and smooth force signal, a first-order low-pass filter is used to perform real-time digital filtering processing on the obtained force signal. The absolute value, transformation rate and duration of the filtered force signal are calculated and compared with the preset activation condition as the core reference item to determine whether to switch modes.

[0035] A physical force threshold is set, and the absolute value of the processed force signal is compared with the preset physical force threshold. Only when the force signal is greater than the set threshold, the reverse driving mode can be triggered. The threshold is set to be greater than the static friction of the system to prevent false triggering. The threshold is used to determine whether an effective external force that can overcome the internal friction of the joint is applied. When the detected external force signal exceeds the threshold, it indicates that the end of the joint is subjected to a real and significant external force. If the conventional rigid position control is still maintained at this time, it may cause the system to generate a large reaction force and mechanical impact. Therefore, the system automatically switches to the reverse driving mode when the external force exceeds the threshold. In the reverse driving mode, the system actively offsets the friction and inertia of the lead screw to achieve a compliant response to the external force, and improves the safety and compliance of the robot in interactive or collision situations.

[0036] In order to prevent the influence of transient disturbance or noise peak, a time window is set for debouncing. Only when the absolute value of the force signal is greater than the physical threshold and lasts for a preset debouncing time, the reverse driving mode is switched. In order to avoid command jump and joint motion jam in the mode switching process, a transition state is added to the state machine to realize smooth switching from the current control mode to the reverse driving mode, and a hybrid control strategy is used to realize disturbance-free switching of the control mode.

[0037] ​​During the switching process of the inverse drive mode, the system realizes the smooth transition of the control mode through the state machine. The state machine divides the control process into three states: regular control, transition state and inverse drive. When the equivalent external force is detected to exceed the set threshold and continuously meet the debounce time, the system first enters the transition state, rather than directly switching to the inverse drive mode. In the transition state, the controller will gradually adjust the stiffness, damping and inertia parameters in the active control model according to the size and direction of the current external force, rather than suddenly jumping. At the same time, the gradual adjustment of the three control parameters is realized through linear interpolation or exponential smoothing processing. They continuously adjust with the change of the external force, and the force and displacement instructions of the system output are also smoothly transitioned, avoiding the impact of the motor or displacement jump caused by mode mutation.

[0038] At the same time, the hybrid control strategy is: in the regular mode, the position or speed control is mainly used, and the force control component is introduced in the transition stage to weight and fuse the position control and force control, so that the system gradually transitions from the position accuracy to the external force response, and finally in the inverse drive mode, the expected displacement instruction is completely dominated by the external force signal.

[0039] S4: In the inverse drive mode, the processed equivalent external force signal is input to the active control model, and the expected displacement instruction is output to drive the linear servo joint to move.

[0040] Because the linear servo joint structure contains a planetary roller screw 2, it will generate a large friction force, so it cannot be directly driven in the inverse direction. Therefore, we use an indirect method of force sensor 3 combined with inverse drive algorithm to drive the linear servo joint in the inverse direction. In the inverse drive mode, the input of the system is the processed multi-source sensing external force signal, which is processed by the active control algorithm to output the expected position, and then drive the linear servo joint to move. The active control algorithm model is: ; Where represents the expected displacement, is the stiffness parameter, is the impedance parameter, is the inertia parameter, represents the value of the filtered external force signal.

[0041] In the active control algorithm model, , , , is a known quantity, is an unknown quantity. is the main control parameter, which determines the difficulty of the displacement of the linear servo joint end under the action of the external force, The smaller the value, the easier the system is to displace under the action of the external force. is the key control parameter to determine the stability of the linear servo joint when responding to external force, The greater the value, the more stable the motion. The value determines the ease of starting and stopping the system. The three control parameters of the active control algorithm need to be tuned according to the specific system.

[0042] In one control cycle of the inverse drive mode, the control system reads the external force signal from the force sensor 3, obtains the feedback force signal through the motor current feedback, and imports the fused and processed force signal into the active control model. Through the active control model, the end of the linear servo joint can execute the calculated displacement with a certain acceleration and speed according to the size of the force applied to the end, showing the compliance control that cannot be achieved by the mechanical structure of the linear servo joint alone. In this mode, the torque output of the linear servo motor is used to actively overcome the static friction, viscous friction and inertia of the planetary roller screw 2, which appears as a phenomenon of assisting the external force to move, and obtains good inverse drive ability.

[0043] S5: Collect historical motion data during the motion process, and iteratively optimize the parameters of the active control model based on the historical motion data.

[0044] To ensure that the linear servo joint has good inverse drive effect, we iteratively optimize the parameters of the inverse drive control algorithm during the process of inverse drive of the linear servo joint, so as to further ensure that the linear servo joint has good inverse drive effect. The linear servo joint synchronously collects time series data such as external force, expected position, expected speed, actual position, actual speed, etc. during each inverse drive process. By analyzing the historical data, the speed tracking error, response delay and motion smoothness in the historical running process are obtained. According to the index, the performance of the current parameter is evaluated comprehensively, and the optimization algorithm is used to automatically optimize in the parameter space, automatically tune the active control algorithm parameters, so that the system obtains the best inverse drive performance in different working conditions and environments.

[0045] The automatic optimization process is as follows: During the reverse drive process, the control system collects real-time operational data such as external force, position, and velocity, constructing a comprehensive cost function that includes performance indicators such as velocity tracking error, response delay, and motion smoothness. Control parameters such as stiffness, damping, and inertia are considered as variables to be optimized, and an optimization algorithm searches the parameter space for the optimal solution that minimizes the cost function. This optimization process employs the gradient descent method. In the optimization process, the system first calculates the gradient information of the cost function under the current parameters, i.e., the sensitivity of the cost function to each control parameter. Then, it iteratively updates the parameter values ​​along the gradient descent direction to gradually reduce the cost function. Each iteration re-evaluates the performance indicators based on the latest operational data, thereby adaptively adjusting the step size and direction. Through this iterative calculation method, the performance under different parameter combinations is continuously evaluated, and parameter values ​​are automatically adjusted, allowing the system's motion response to gradually approach the optimal state.

[0046] Example 2 This embodiment provides a linear servo joint reverse drive control system, including: The force sensor calibration module is configured to calibrate the force sensor to eliminate zero-point offset and calibrate its sensitivity. The multi-source external force sensing module is configured to: sense multiple external forces based on force sensor signals and motor current feedback signals, and obtain the equivalent external force through weighted fusion; The signal processing and mode switching module is configured to: filter the equivalent external force and determine whether to switch to the reverse drive mode based on the characteristics of the processed equivalent external force signal and preset conditions; The active control module is configured to: in reverse drive mode, input the processed equivalent external force signal to the active control model, output the desired displacement command, and drive the linear servo joint to move. The parameter optimization module is configured to: collect historical motion data during the motion process, and iteratively optimize the parameters of the active control model based on the historical motion data.

[0047] It should be noted that the above modules correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above modules and their corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules can be executed in a computer system as part of the system.

[0048] In further embodiments, the following is also provided: An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.

[0049] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0050] A computer-readable storage medium for storing computer instructions that, when executed by a processor, perform the method of Embodiment 1.

[0051] The method in Example 1 can be directly executed by a hardware processor, or it can be executed by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.

[0052] A computer program product includes a computer program that, when executed by a processor, implements the method in Embodiment 1.

[0053] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions included in program modules, which execute in a device on a target real or virtual processor to perform the processes / methods described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc., that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of program modules can be combined or divided among program modules as needed. The machine-executable instructions for the program modules can execute within a local or distributed device. In a distributed device, the program modules can reside in both local and remote storage media.

[0054] The computer program code used to implement the methods of the present invention may be written in one or more programming languages. This computer program code may 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 computer or other programmable data processing device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a stand-alone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0055] In the context of this invention, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.

[0056] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0057] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A linear servo joint inverse drive control method, characterized by, The method comprises the following steps: The force sensor is calibrated to eliminate zero offset and calibrate sensitivity; Based on the force sensor signal and the motor current feedback signal, multi-source external force perception is performed, and equivalent external force is obtained through weighted fusion; The equivalent external force is filtered, and whether to switch to the reverse driving mode is determined according to the processed equivalent external force signal characteristics and preset conditions; In the reverse driving mode, the processed equivalent external force signal is input into the active control model to output the expected displacement instruction to drive the linear servo joint movement; In the movement process, historical movement data is collected, and the parameters of the active control model are iteratively optimized based on the historical movement data.

2. The inverse drive control method of a linear servo joint according to claim 1, wherein The force sensor is calibrated, specifically: Record the zero offset in the no-load environment; The sensitivity coefficient is obtained by hanging a standard mass block, and the least square method is used for fitting; The sensor raw data is converted into physical force value based on the zero offset and the sensitivity coefficient.

3. The inverse drive control method of a linear servo joint according to claim 1, wherein The multi-source external force perception is specifically: The feedback force value is calculated based on the motor torque constant, current feedback value and transmission ratio; The feedback force value and the physical force value measured by the force sensor are weighted and fused to obtain the equivalent external force, Wherein, the weight factor is adaptively adjusted according to the sensor noise level and the motor operating state.

4. The inverse drive control method of a linear servo joint according to claim 1, wherein Whether to switch to the reverse driving mode is specifically: The absolute value of the filtered equivalent external force signal is compared with the preset physical force threshold value, when the absolute value of the equivalent external force signal is greater than the absolute value of the equivalent external force signal, the reverse driving mode is triggered, the time window is combined for debouncing processing to prevent false triggering, and the smooth switching of the control mode is realized through the state machine and the hybrid control strategy.

5. The inverse drive control method of a linear servo joint according to claim 1, wherein The active control model is: ； wherein, represents a desired displacement, is a stiffness parameter, is an impedance parameter, is an inertia parameter, represents a value of the filtered external force signal.

6. The inverse drive control method of a linear servo joint according to claim 1, wherein The iterative optimization of the active control model is specifically: Collect time series data of external force, position and speed; Based on the speed tracking error, response delay and motion smoothness, the performance of the control parameters is evaluated; Optimization algorithm is used to automatically optimize in the parameter space to set the parameters of the active control model.

7. A linear servo joint inverse drive control system, characterized by, It comprises: The force sensor calibration module is configured to calibrate the force sensor to eliminate zero offset and calibrate sensitivity; The multi-source external force perception module is configured to perform multi-source external force perception based on the force sensor signal and the motor current feedback signal, and obtain equivalent external force through weighted fusion; The signal processing and mode switching module is configured to filter the equivalent external force, and determine whether to switch to the reverse driving mode according to the processed equivalent external force signal characteristics and preset conditions; The active control module is configured to input the processed equivalent external force signal into the active control model in the reverse driving mode to output the expected displacement instruction and drive the linear servo joint movement; The parameter optimization module is configured to collect historical movement data in the movement process, and iteratively optimize the parameters of the active control model based on the historical movement data.

8. An electronic device, comprising: It comprises a memory and a processor, and computer instructions stored in the memory and running on the processor, when the computer instructions are run by the processor, the method of any one of claims 1-6 is completed.

9. A computer-readable storage medium, characterized in that, A computer instruction is used to store the computer instruction, when the computer instruction is executed by the processor, the method of any one of claims 1-6 is completed.

10. A computer program product, characterised in that, A computer program comprising computer program elements which, when executed by a processor, perform the method according to any one of claims 1-6. A computer program comprising computer program elements which, when executed by a processor, perform the method according to any one of claims 1-6.

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