Robot connecting rod assembling method, electronic equipment and storage medium

Abstract

The invention provides a robot connecting rod assembling method, electronic equipment and a storage medium, and the method comprises the steps: generating configuration parameter information corresponding to each connecting rod in a robot in response to a parameter value which is input by a user on an interface of a robot simulation platform and aims at each connecting rod in the robot; in response to a trigger operation of a user for a creation control on the interface, acquiring configuration parameter information corresponding to each connecting rod, and acquiring a connection relationship between the connecting rods according to the structural information of the robot; and according to the configuration parameter information corresponding to each connecting rod and the connection relationship, determining a target posture of each connecting rod, assembling each connecting rod based on the target posture of each connecting rod, and displaying an assembling posture on an interface. And the accuracy and efficiency of robot connecting rod assembly are improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a method for assembling robot links, electronic devices, and storage media. Background Technology

[0002] In robot simulation and control systems, the three-dimensional geometry of a robot is typically modeled through hierarchical connections of links and joints. To accurately reproduce the kinematic structure of a real robot in a simulation environment, the relative positions and orientations of the links, as well as the rotational axes of the joints, need to be precisely configured.

[0003] In existing technologies, the robot's structure in a simulation environment is typically adjusted by manually modifying the robot's Denavit-Hartenberg (DH) parameters. This approach lacks an intuitive and visual interaction regarding the spatial relationships between links. Users cannot view the overall assembly effect after parameter modifications in real time, and if a parameter of an intermediate link is set incorrectly, the cause of the error cannot be identified. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a robot link assembly method, electronic device, and storage medium to improve the accuracy and efficiency of robot link assembly.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a robot link assembly method, the method comprising: In response to the parameter values ​​for each link in the robot input by the user on the robot simulation platform interface, configuration parameter information corresponding to each link is generated. The configuration parameter information includes: the position offset parameter of the link, the attitude rotation parameter of the link, and the rotation direction parameter of the corresponding joint of the link. In response to the user's trigger operation on the creation control on the interface, the configuration parameter information corresponding to each link is obtained, and the connection relationship between each link is obtained according to the structural information of the robot; Based on the configuration parameter information corresponding to each link and the connection relationship, the target posture of each link is determined, and the links are assembled based on the target posture of each link, and the assembly posture is displayed on the interface.

[0006] Optionally, determining the target attitude of each link based on the configuration parameter information corresponding to each link and the connection relationship includes: Based on the connection relationship between each link, determine the current link to be assembled and the link preceding the current link, and obtain the target pose of the link preceding the current link. The current link is any link other than the first link, and the target pose of the first link is a preset pose. For the current link, the target pose of the current link in the world coordinate system is determined based on the configuration parameter information of the current link and the target pose of the link preceding the current link.

[0007] Optionally, determining the target pose of the current link in the world coordinate system based on the configuration parameter information of the current link and the target pose of the link preceding the current link includes: The current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link are determined based on the configuration parameter information of the current link. The current pose transformation matrix is ​​used to indicate the transformation of the current link relative to its initial pose, and the current rotation transformation matrix is ​​used to indicate the transformation of the corresponding joint relative to its initial rotation direction. Based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix, the target pose of the current link in the world coordinate system is determined.

[0008] Optionally, determining the current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link based on the configuration parameter information of the current link includes: Based on the position offset parameter, attitude rotation parameter and the initial pose of the current link in the configuration parameter information, determine the current pose transformation matrix; Based on the rotation direction parameters of the corresponding joint of the current link and the initial rotation direction parameters of the corresponding joint in the configuration parameter information, the current rotation transformation matrix of the corresponding joint is determined.

[0009] Optionally, determining the current pose transformation matrix based on the position offset parameter, attitude rotation parameter, and the initial pose of the current link in the configuration parameter information includes: Based on the position offset parameter in the configuration parameter information and the initial position parameter in the initial pose of the current link, determine the position transformation matrix in the current pose transformation matrix; Based on the attitude rotation parameters in the configuration parameter information and the initial rotation parameters in the initial pose of the current link, determine the rotation transformation matrix in the current pose transformation matrix; The position transformation matrix and the rotation transformation matrix are used as the current pose transformation matrix.

[0010] Optionally, determining the target pose of the current link in the world coordinate system based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix includes: Calculate the product of the target pose of the previous link and the current rotation transformation matrix to obtain the product result; The target pose is obtained by multiplying the product result with the current pose transformation matrix.

[0011] Optionally, it also includes: In response to the user's trigger operation on the save control on the interface, the configuration parameter information of each link is obtained and saved.

[0012] Optionally, it also includes: The assembly operation ends in response to the user's trigger action on the closed control on the interface.

[0013] Secondly, embodiments of this application also provide a robot link assembly device, the device comprising: The generation module is used to generate configuration parameter information corresponding to each link in the robot in response to the parameter values ​​input by the user on the interface of the robot simulation platform. The configuration parameter information includes: the position offset parameter of the link, the attitude rotation parameter of the link, and the rotation direction parameter of the corresponding joint of the link. The acquisition module is used to respond to the user's trigger operation on the creation control on the interface, acquire the configuration parameter information corresponding to each link, and acquire the connection relationship between each link according to the structural information of the robot; The determination module is used to determine the target posture of each link based on the configuration parameter information corresponding to each link and the connection relationship, assemble each link based on the target posture of each link, and display the assembly posture on the interface.

[0014] Optionally, the determining module is specifically used for: Based on the connection relationship between each link, determine the current link to be assembled and the link preceding the current link, and obtain the target pose of the link preceding the current link. The current link is any link other than the first link, and the target pose of the first link is a preset pose. For the current link, the target pose of the current link in the world coordinate system is determined based on the configuration parameter information of the current link and the target pose of the link preceding the current link.

[0015] Optionally, the determining module is specifically used for: The current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link are determined based on the configuration parameter information of the current link. The current pose transformation matrix is ​​used to indicate the transformation of the current link relative to its initial pose, and the current rotation transformation matrix is ​​used to indicate the transformation of the corresponding joint relative to its initial rotation direction. Based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix, the target pose of the current link in the world coordinate system is determined.

[0016] Optionally, the determining module is specifically used for: Based on the position offset parameter, attitude rotation parameter and the initial pose of the current link in the configuration parameter information, determine the current pose transformation matrix; Based on the rotation direction parameters of the corresponding joint of the current link and the initial rotation direction parameters of the corresponding joint in the configuration parameter information, the current rotation transformation matrix of the corresponding joint is determined.

[0017] Optionally, the determining module is specifically used for: Based on the position offset parameter in the configuration parameter information and the initial position parameter in the initial pose of the current link, determine the position transformation matrix in the current pose transformation matrix; Based on the attitude rotation parameters in the configuration parameter information and the initial rotation parameters in the initial pose of the current link, determine the rotation transformation matrix in the current pose transformation matrix; The position transformation matrix and the rotation transformation matrix are used as the current pose transformation matrix.

[0018] Optionally, the determining module is specifically used for: Calculate the product of the target pose of the previous link and the current rotation transformation matrix to obtain the product result; The target pose is obtained by multiplying the product result with the current pose transformation matrix.

[0019] Optionally, the acquisition module is specifically used for: In response to the user's trigger operation on the save control on the interface, the configuration parameter information of each link is obtained and saved.

[0020] Optionally, the end module is used for: The assembly operation ends in response to the user's trigger action on the closed control on the interface.

[0021] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application runs, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the robot link assembly method described in the first aspect above.

[0022] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is read and executes the steps of the robot link assembly method described in the first aspect.

[0023] The beneficial effects of this application are: This application provides a robot link assembly method, electronic device, and storage medium. It generates configuration parameter information for each link in response to user input of parameter values ​​for each link in the robot simulation platform interface. Then, in response to user triggering of the creation control on the interface, it obtains the configuration parameter information for each link and, based on the robot's structural information, retrieves the connection relationships between the links. Finally, based on the configuration parameter information and connection relationships, it determines the target posture of each link, assembles the links based on their target postures, and displays the assembled posture on the interface. Users do not need to master the DH parameter method or programming skills; they can complete modeling by directly inputting the configuration parameters of each link through a graphical interface, significantly improving the ease of use for non-professional users. It allows users to freely define any number of link structures with any connection method, supporting flexible and diverse robot structure modeling. Furthermore, after the user inputs parameters, it can quickly respond and immediately display the assembly result after clicking "Create," forming a closed-loop interactive process of "input, preview, and correction." Additionally... The final displayed assembly posture accurately reflects the user-defined parameter combination, avoiding the problem of the actual configuration not matching the expectation due to parameter mapping errors in traditional tools. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A flowchart illustrating a robot link assembly method provided in this application embodiment; Figure 2 A schematic diagram of a configuration interface for robot link assembly provided in an embodiment of this application; Figure 3 A schematic flowchart illustrating another robot link assembly method provided in this application embodiment; Figure 4 A flowchart illustrating another robot link assembly method provided in this application embodiment; Figure 5 A schematic flowchart illustrating another robot link assembly method provided in this application embodiment; Figure 6 This application provides a schematic diagram of the front and rear of a robot linkage assembly as shown in the embodiments of the present application. Figure 7 A schematic diagram of an apparatus for assembling robot links according to an embodiment of this application; Figure 8 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0027] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0029] Existing robot modeling methods based on DH parameters possess strong mathematical abstraction but lack intuitive spatial representation capabilities, making it difficult for users to directly perceive the actual position and attitude changes of links through parameters. Furthermore, when an intermediate link parameter is set incorrectly, the assembly result of the entire kinematic chain will deviate; however, due to the lack of a visual feedback mechanism, error localization is difficult, resulting in low debugging efficiency. Especially for non-standard axial configurations (such as joint rotation axes not aligned with coordinate axes), traditional DH parameters struggle to provide flexible support, limiting the ability to model complex or customized robot structures. Therefore, existing link-based methods lack intuitive and visual adjustment means for the spatial relationships between links, leading to complex robot structure configuration processes and low debugging efficiency; moreover, they struggle to support flexible configuration of joint axes in arbitrary directions, limiting their adaptability to non-standard robot structures.

[0030] To address this, this application proposes a robot link assembly method that enables free adjustment of the position, orientation, and joint axis of each link on a simulation platform, and updates the geometry of the entire robot model in real time through a recursive approach, thereby improving the flexibility, accuracy, and interactive experience of robot modeling.

[0031] Optionally, the robot link assembly method provided in this application embodiment is applied to an electronic device in which a robot simulation platform is deployed. This electronic device can be, for example, a terminal device with computing power and display functions such as a mobile phone, tablet computer, laptop computer, PDA, or desktop computer, or it can also be a server. Specifically, it can be applied to applications in terminal devices, such as mobile phone applications (APPs) or computer application systems.

[0032] The control device can be a server set up in the cloud, or it can be a terminal device set up on the user side, such as a mobile phone, tablet, laptop, handheld computer, desktop computer or other terminal device with computing and display capabilities.

[0033] The following is a detailed explanation of the specific implementation process of the robot linkage assembly provided in the embodiments of this application.

[0034] Figure 1 This is a flowchart illustrating a robot link assembly method provided in an embodiment of this application. The execution subject of this method is the aforementioned electronic device. Figure 1 As shown, the method includes: S101. In response to the parameter values ​​for each link in the robot input by the user on the robot simulation platform interface, generate configuration parameter information corresponding to each link.

[0035] The configuration parameters may include: link position offset parameters, link attitude rotation parameters, and rotation direction parameters of the corresponding joints of the link. The configuration interface for these parameters is shown below. Figure 2 As shown, Figure 2 The diagram shows multiple links and their configuration parameters, such as... Figure 2 It includes seven links, and the sequential connection order of these links is link0, link1, link2, link3, link4, link5, and link6. It is worth noting that... Figure 2 The number of links shown is for illustrative purposes only.

[0036] Optionally, the position offset parameter of the link refers to the amount of translation in space of the current link body relative to the initial position of the current link. The position offset parameter is as follows: Figure 2 The (x, y, z) column parameter; the linkage's attitude rotation parameters refer to the rotation angles of the current linkage body on each axis. Attitude rotation parameters can be used to adjust the linkage's orientation and are often expressed in Euler angles, quaternions, or rotation matrices. Attitude rotation parameters are as follows: Figure 2 The parameters in the rx, ry, and rz columns refer to the drive joints associated with the current link. Specifically, they refer to the drive joints connecting the current link to the link preceding it. For example, if the current link is link2, then the corresponding joint for link2 refers to the drive joint connecting link2 and link1. For instance, the corresponding joints for link2 are as follows: Figure 6 In the context of joint 1, the rotation direction parameter refers to the rotation direction of the joint along each axis. This can be a unit direction vector or any arbitrary rotation axis. For example, the rotation direction parameter of the joint is shown below. Figure 2 The parameter in the axis column.

[0037] Specifically, before assembling the links for robot A, the user can first select the link identifier to be configured, such as link2, in the configuration interface of the simulation platform. Then, the user can enter the position offset parameters of link2 in the parameter input box, such as... Figure 2 In this context, (x=0, y=-0.006, z=0) refers to an offset of -0.006 along the y-axis; the attitude rotation parameters of link2 (rx=1.5708, ry=-1.5708, rz=0) specifically refer to a rotation of 1.5708 degrees around the x-axis and a rotation of -1.5708 degrees around the y-axis; and the rotation direction parameter axis of the corresponding joint of link2 is (0,0,1), specifically, the corresponding joint of link2 faces the z-axis.

[0038] Specifically, based on the parameter values ​​of each link input by the user in the configuration interface of the simulation platform, configuration parameter information of each link can be generated, such as generating configuration parameter information A for link0, configuration parameter information B for link1, configuration parameter information C for link2, configuration parameter information D for link3, configuration parameter information E for link4, configuration parameter information F for link5, and configuration parameter information G for link6, etc.

[0039] Optionally, after the user enters the configuration parameter information of each link in the configuration interface, the configuration parameter information corresponding to each link can be temporarily stored in a temporary data structure.

[0040] S102. In response to the user's trigger operation on the creation control on the interface, obtain the configuration parameter information corresponding to each link, and obtain the connection relationship between each link according to the robot's structural information.

[0041] Optionally, the configuration interface may also include a creation control. When the user needs to assemble the robot with links based on the configuration parameters of each link that were previously entered, the user can click the creation control on the interface. After the electronic device receives the user's creation instruction, it can obtain the configuration parameter information of each link that the user entered in step S101 from the temporary data structure and enter the assembly stage.

[0042] The structural information of a robot may include the total number of links, the identifier of the link preceding each link, whether it is the root link (i.e., the base), and whether there are branch structures. In a serial robot, the links are connected sequentially to form a kinematic chain, where the first link is fixed at the origin of the world coordinate system (i.e., the base link), and each subsequent link is connected to the link preceding it through a joint.

[0043] S103. Based on the configuration parameter information and connection relationship of each link, determine the target attitude of each link, assemble each link based on the target attitude of each link, and display the assembled attitude on the interface.

[0044] The target attitude of each link refers to its target attitude in the world coordinate system. Specifically, the target attitude of each link can be determined using a preset method based on the position offset parameters, attitude rotation parameters, and rotation direction parameters of the corresponding joints in the configuration parameter information of each link, as well as the connection relationship between the links.

[0045] Optionally, after determining the target posture of each link, a 3D image engine can be invoked to spatially assemble the links according to the determined target posture. Joint connections are then drawn using lines or solid models, ultimately forming a complete robot model that can be displayed in real-time on the simulation platform. Users can freely rotate and zoom the viewpoint in the 3D view to check if the assembly results meet the requirements. If an anomaly is found in a link, its parameters can be modified, and the links can be reassembled. Specifically, after modifying the link configuration parameters, the "Create" button on the interface can be clicked again to reassemble the links based on the modified configuration parameter information.

[0046] In this embodiment, in response to the parameter values ​​of each link in the robot input by the user on the robot simulation platform interface, configuration parameter information corresponding to each link is generated. Then, in response to the user's trigger operation on the creation control on the interface, the configuration parameter information corresponding to each link is obtained, and the connection relationship between each link is obtained according to the robot's structural information. Finally, based on the configuration parameter information and connection relationship of each link, the target posture of each link is determined, and the links are assembled based on the target posture, and the assembled posture is displayed on the interface. Users do not need to master the DH parameter method or programming skills; they can complete the modeling by directly inputting the configuration parameters of each link through the graphical interface, significantly improving the ease of use for non-professional users. It allows users to freely define any number of link structures with any connection method, supporting flexible and diverse robot structure modeling. Furthermore, after the user inputs parameters, it can quickly respond and immediately display the assembly result after clicking "Create," forming a closed-loop interactive process of "input, preview, and correction." In addition, the final displayed assembly posture accurately reflects the parameter combination set by the user, avoiding the problem of the actual configuration not matching the expectation due to parameter mapping errors in traditional tools.

[0047] Figure 3 A flowchart illustrating another robot link assembly method provided in this application embodiment is shown below. Figure 3 As shown, in step S103 above, determining the target attitude of each link based on its configuration parameter information and connection relationship can include: S201. Based on the connection relationship between each link, determine the current link to be assembled and the link preceding the current link, and obtain the target pose of the link preceding the current link.

[0048] Here, the current link is any link other than the first link, and the target pose of the first link is a preset pose. The target pose of the previous link refers to the pose of the previous link in the world coordinate system, for example, using T... local To express.

[0049] For example, following a preset order, such as the depth traversal order from the base to the end effector, the current link to be assembled and the link preceding the current link can be determined sequentially. If the link preceding the current link is empty, it indicates that the current link is the base, and the current link can be used as the origin of the world coordinate system, which is the preset pose. After determining the target pose of each link, the target pose of each link can be saved for subsequent calculation of the target pose of other links.

[0050] For example, if the link preceding link 0 is empty, then link 0 is the robot base, and link 0 is taken as the origin of the world coordinate system; the link preceding link 1 is link 0; the link preceding link 2 is link 1, and so on, to obtain the link preceding each current link.

[0051] S202. For the current link, based on the configuration parameter information of the current link and the target pose of the link preceding the current link, determine the target pose of the current link in the world coordinate system.

[0052] Optionally, for the current link, the target pose of the current link in the world coordinate system can be determined using a preset method based on the configuration parameter information of the current link and the target pose of the link preceding the current link.

[0053] For example, if the current link is the fourth link (link4), and the link preceding it is the robot's third link (link3), and the target pose of link3 is known; the configuration parameter E of link4 is an offset of 0.3 meters along the positive Z-axis and a rotation of 90 degrees around the Y-axis. Then, by combining the target pose of the third link (link3), the position offset and attitude rotation in the configuration parameter E of link4 are transformed into the world coordinate system, thereby calculating the target pose of the fourth link (link4) in the world coordinate system.

[0054] In this embodiment, the homogeneous transformation principle is used to achieve pose recursion, making full use of the coordinate transformation theory in rigid body kinematics. This enables efficient spatial positioning calculations of multi-link systems without relying on external solvers. Furthermore, since all parameters are directly input by the user and participate in the calculation in real time, parameter-driven modeling is achieved, significantly improving modeling flexibility and accuracy.

[0055] Figure 4 A flowchart illustrating another robot link assembly method provided in this application embodiment is shown below. Figure 4 As shown, in step S202 above, determining the target pose of the current link in the world coordinate system based on the configuration parameter information of the current link and the target pose of the link preceding the current link can include: S301. Determine the current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link based on the configuration parameter information of the current link.

[0056] Here, the current pose transformation matrix refers to the transformation of the current link relative to its initial pose, and the current rotation transformation matrix refers to the transformation of the corresponding joint of the current link relative to its initial rotation direction. The current pose transformation matrix can be, for example, represented by T. config To represent, the current rotation transformation matrix can be represented, for example, by using T. joint To express.

[0057] For example, if the current link is link2, the current pose transformation matrix T can be determined based on the configuration parameter information C of link2. config2 and the current rotation transformation matrix T joint2 .

[0058] S302. Determine the target pose of the current link in the world coordinate system based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix.

[0059] For example, if the current link is link2, then the transformation matrix T can be used based on the target pose of link1 and the current pose. config2 and the current rotation transformation matrix T joint2 The target pose of link2 in the world coordinate system is determined using a preset method.

[0060] Figure 5 This is a flowchart illustrating another robot link assembly method provided in an embodiment of this application, as shown below. Figure 5 As shown, in step S301 above, determining the current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link based on the configuration parameter information of the current link can include: S401. Determine the current pose transformation matrix based on the position offset parameter, attitude rotation parameter and the initial pose of the current link in the configuration parameter information.

[0061] Specifically, the current pose transformation matrix T can be determined using a preset method based on the position offset parameters (x, y, z), attitude rotation parameters (rx, ry, rz) and the initial pose of the current link (x0, y0, z0, rx0, ry0, rz0) in the configuration parameter information. config .

[0062] For example, if the current link is link2, then it can be based on link2's... Figure 2The configuration parameter information C contains the position offset parameters (x=0, y=-0.006, z=0), attitude rotation parameters (rx=1.5708, ry=-1.5708, rz=0), and the initial pose of the current link (x). 02 ,y 02 ,z 02 ,rx 02 ,ry 02 ,rz 02 The current pose transformation matrix T is determined using a preset method. config2 .

[0063] S402. Based on the rotation direction parameters of the corresponding joint of the current link and the initial rotation direction parameters of the corresponding joint in the configuration parameters, determine the current rotation transformation matrix of the corresponding joint.

[0064] Optionally, the current rotation transformation matrix T can be determined based on the rotation direction parameter axis of the corresponding joint of the current link and the initial rotation direction axis0 of the corresponding joint of the current link in the configuration parameter information of the current link. joint .

[0065] For example, if the current link is link2, then it can be based on link2's... Figure 2 In the configuration parameter information C, the rotation direction parameter axis=(0,0,1) of the corresponding joint of link2 and the initial rotation direction axis of the corresponding joint of the current link. 02 Determine the current rotation transformation matrix T joint2 .

[0066] Optionally, determining the current pose transformation matrix in S401 based on the position offset parameter, attitude rotation parameter, and the initial pose of the current link in the configuration parameter information may include: Optionally, the position transformation matrix in the current pose transformation matrix is ​​determined based on the position offset parameter in the configuration parameter information and the initial position parameter in the initial pose of the current link. Specifically, the position transformation matrix in the current pose transformation matrix can be determined using a preset method based on the position offset parameter (x, y, z) in the configuration parameter information and the initial position parameter (x0, y0, z0) in the initial pose of the current link.

[0067] Optionally, the rotation transformation matrix in the current pose transformation matrix can be determined based on the attitude rotation parameters in the configuration parameter information and the initial rotation parameters in the initial pose of the current link. Specifically, the rotation transformation matrix in the current pose transformation matrix can be determined using a preset method based on the attitude rotation parameters (rx, ry, rz) in the configuration parameter information and the initial rotation parameters (rx0, ry0, rz0) in the initial pose of the current link. The combined matrix of the position transformation matrix and the rotation transformation matrix is ​​then used as the current pose transformation matrix.

[0068] Optionally, determining the target pose of the current link in the world coordinate system based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix in S302 above may include: Optionally, the target pose is obtained by calculating the product of the target pose of the previous link and the current rotation transformation matrix, and then by calculating the product of the product and the current pose transformation matrix. Specifically, this can be achieved using formula T. local = T local T joint T config , among which, T local For the target pose of the previous link, T joint Let T be the current rotation transformation matrix. config Let T be the current pose transformation matrix. local ′ represents the current target pose of the link.

[0069] Optionally, the method may further include: Specifically, in response to the user's trigger operation on the save control on the interface, the configuration parameter information of each link is obtained and saved.

[0070] Optionally, when the user confirms that the robot's assembly posture meets the requirements in the 3D view, they can click the save button on the interface. In response to the user's trigger operation on the save control, the configuration parameter information of each link is obtained and saved for later retrieval.

[0071] Optionally, the method may further include: The assembly operation ends in response to the user's trigger action on the close control on the interface. When the user needs to end the robot's link assembly operation, the user can click the close control on the interface, and the electronic device will end the assembly operation in response to the trigger action on the close control.

[0072] Figure 6 This is a front and rear schematic diagram of a robot linkage assembly provided in an embodiment of this application. Figure 6Figure a shows the posture diagram of link1 and link2 before assembly based on the configuration parameters entered by the user in the interface. Using the robot link assembly method provided in this application, the posture diagram of link2 and link1 after assembly is obtained in Figure b.

[0073] Figure 7 This is a schematic diagram of an apparatus for assembling robot links according to an embodiment of this application, as shown below. Figure 7 As shown, the device includes: The generation module 501 is used to generate configuration parameter information corresponding to each link in the robot in response to the parameter values ​​input by the user on the interface of the robot simulation platform. The configuration parameter information includes: the position offset parameter of the link, the attitude rotation parameter of the link, and the rotation direction parameter of the corresponding joint of the link. The acquisition module 502 is used to respond to the user's trigger operation on the creation control on the interface, acquire the configuration parameter information corresponding to each link, and acquire the connection relationship between each link according to the structural information of the robot; The determining module 503 is used to determine the target posture of each link according to the configuration parameter information corresponding to each link and the connection relationship, assemble each link based on the target posture of each link, and display the assembly posture on the interface.

[0074] Optionally, the determining module 503 is specifically used for: Based on the connection relationship between each link, determine the current link to be assembled and the link preceding the current link, and obtain the target pose of the link preceding the current link. The current link is any link other than the first link, and the target pose of the first link is a preset pose. For the current link, the target pose of the current link in the world coordinate system is determined based on the configuration parameter information of the current link and the target pose of the link preceding the current link.

[0075] Optionally, the determining module 503 is specifically used for: The current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link are determined based on the configuration parameter information of the current link. The current pose transformation matrix is ​​used to indicate the transformation of the current link relative to its initial pose, and the current rotation transformation matrix is ​​used to indicate the transformation of the corresponding joint relative to its initial rotation direction. Based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix, the target pose of the current link in the world coordinate system is determined.

[0076] Optionally, the determining module 503 is specifically used for: Based on the position offset parameter, attitude rotation parameter and the initial pose of the current link in the configuration parameter information, determine the current pose transformation matrix; Based on the rotation direction parameters of the corresponding joint of the current link and the initial rotation direction parameters of the corresponding joint in the configuration parameter information, the current rotation transformation matrix of the corresponding joint is determined.

[0077] Optionally, the determining module 503 is specifically used for: Based on the position offset parameter in the configuration parameter information and the initial position parameter in the initial pose of the current link, determine the position transformation matrix in the current pose transformation matrix; Based on the attitude rotation parameters in the configuration parameter information and the initial rotation parameters in the initial pose of the current link, determine the rotation transformation matrix in the current pose transformation matrix; The position transformation matrix and the rotation transformation matrix are used as the current pose transformation matrix.

[0078] Optionally, the determining module 503 is specifically used for: Calculate the product of the target pose of the previous link and the current rotation transformation matrix to obtain the product result; The target pose is obtained by multiplying the product result with the current pose transformation matrix.

[0079] Optionally, the acquisition module 503 is specifically used for: In response to the user's trigger operation on the save control on the interface, the configuration parameter information of each link is obtained and saved.

[0080] Optionally, module 504 is terminated for: The assembly operation ends in response to the user's trigger action on the closed control on the interface.

[0081] Figure 8 This is a structural block diagram of an electronic device 600 provided in an embodiment of this application. (See diagram below.) Figure 8 As shown, the electronic device may include: a processor 601 and a memory 602.

[0082] Optionally, a bus 603 may also be included, wherein the memory 602 is used to store machine-readable instructions executable by the processor 601. When the electronic device 600 is running, the processor 601 and the memory 602 communicate via the bus 603, and the processor 601 executes the machine-readable instructions to perform the method steps in the above method embodiments.

[0083] This application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the method steps described in the above-described robot link assembly method embodiments.

[0084] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or modules may be electrical, mechanical, or other forms.

[0085] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0086] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for assembling robot links, characterized in that, The method includes: In response to the parameter values ​​for each link in the robot input by the user on the robot simulation platform interface, configuration parameter information corresponding to each link is generated. The configuration parameter information includes: the position offset parameter of the link, the attitude rotation parameter of the link, and the rotation direction parameter of the corresponding joint of the link. In response to the user's trigger operation on the creation control on the interface, the configuration parameter information corresponding to each link is obtained, and the connection relationship between each link is obtained according to the structural information of the robot; Based on the configuration parameter information corresponding to each link and the connection relationship, the target posture of each link is determined, and the links are assembled based on the target posture of each link, and the assembly posture is displayed on the interface.

2. The robot link assembly method according to claim 1, characterized in that, The step of determining the target attitude of each link based on the configuration parameter information corresponding to each link and the connection relationship includes: Based on the connection relationship between each link, determine the current link to be assembled and the link preceding the current link, and obtain the target pose of the link preceding the current link. The current link is any link other than the first link, and the target pose of the first link is a preset pose. For the current link, the target pose of the current link in the world coordinate system is determined based on the configuration parameter information of the current link and the target pose of the link preceding the current link.

3. The robot link assembly method according to claim 2, characterized in that, The step of determining the target pose of the current link in the world coordinate system based on the configuration parameter information of the current link and the target pose of the previous link includes: The current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link are determined based on the configuration parameter information of the current link. The current pose transformation matrix is ​​used to indicate the transformation of the current link relative to its initial pose, and the current rotation transformation matrix is ​​used to indicate the transformation of the corresponding joint relative to its initial rotation direction. Based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix, the target pose of the current link in the world coordinate system is determined.

4. The robot link assembly method according to claim 3, characterized in that, The step of determining the current pose transformation matrix of the current link and the current rotation transformation matrix of the corresponding joint of the current link based on the configuration parameter information of the current link includes: Based on the position offset parameter, attitude rotation parameter and the initial pose of the current link in the configuration parameter information, determine the current pose transformation matrix; Based on the rotation direction parameters of the corresponding joint of the current link and the initial rotation direction parameters of the corresponding joint in the configuration parameter information, the current rotation transformation matrix of the corresponding joint is determined.

5. The robot link assembly method according to claim 4, characterized in that, The step of determining the current pose transformation matrix based on the position offset parameter, attitude rotation parameter, and the initial pose of the current link in the configuration parameter information includes: Based on the position offset parameter in the configuration parameter information and the initial position parameter in the initial pose of the current link, determine the position transformation matrix in the current pose transformation matrix; Based on the attitude rotation parameters in the configuration parameter information and the initial rotation parameters in the initial pose of the current link, determine the rotation transformation matrix in the current pose transformation matrix; The position transformation matrix and the rotation transformation matrix are used as the current pose transformation matrix.

6. The robot link assembly method according to claim 3, characterized in that, Determining the target pose of the current link in the world coordinate system based on the target pose of the previous link, the current pose transformation matrix, and the current rotation transformation matrix includes: Calculate the product of the target pose of the previous link and the current rotation transformation matrix to obtain the product result; The target pose is obtained by multiplying the product result with the current pose transformation matrix.

7. The robot link assembly method according to claim 1, characterized in that, Also includes: In response to the user's trigger operation on the save control on the interface, the configuration parameter information of each link is obtained and saved.

8. The robot link assembly method according to claim 1, characterized in that, Also includes: The assembly operation ends in response to the user's trigger action on the closed control on the interface.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program executable by the processor, and the processor executing the computer program to implement the steps of the robot link assembly method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the robot link assembly method as described in any one of claims 1-8.

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