Compliant control methods, devices, electronic equipment, and storage media for flying robots

Abstract

This application belongs to the technical field of flight robot control, and discloses a compliant control method, device, electronic device, and storage medium for a flight robot. The method includes: acquiring dynamic data of a flight robot equipped with a robotic arm; constructing a dynamic model of the flight robot equipped with a robotic arm corresponding to the dynamic data; generating a torque command at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model; calculating the comprehensive control torque of the flight platform in the flight robot equipped with a robotic arm based on the dynamic model and a PID control algorithm; and controlling the flight robot equipped with a robotic arm based on the torque command and the comprehensive control torque. Through the above method, the control efficiency of the flight robot equipped with a robotic arm is improved.

Description

Technical Field

[0001] This application relates to the technical field of flight robot control, and more specifically, to a compliant control method, apparatus, electronic device, and storage medium for a flight robot. Background Technology

[0002] With the deep integration of drone technology and robotic arm control technology, operational flying robots have become a research hotspot in fields such as intelligent manufacturing, special operations, and disaster relief. These systems typically consist of a multi-rotor flight platform and a multi-degree-of-freedom robotic arm, capable of performing contact-based tasks in the air, such as object grasping, surface cleaning, equipment installation, and inspection. However, achieving high-precision and high-stability contact force control remains a significant challenge due to the inherent instability of the flight platform, coupling disturbances caused by the robotic arm's movement, external wind interference, and the uncertainty of the contact stiffness of the working environment.

[0003] Existing technologies suffer from the following shortcomings in addressing the aforementioned challenges: First, most methods treat the flight platform and the robotic arm as two independent systems for control, neglecting the strong dynamic coupling effect caused by their motion, resulting in insufficient model accuracy and limited control performance. Second, existing control parameters (such as impedance parameters and controller gain) are mostly fixed values, unable to be adjusted online according to different tasks, environmental stiffness, and real-time force errors, leading to poor system robustness and a lack of adaptive capabilities. Finally, for the instability of the flight platform itself and high-frequency disturbances such as external wind disturbances, existing methods mostly adopt passive suppression strategies, lacking active compensation mechanisms, resulting in decreased force control accuracy and weak disturbance resistance. These shortcomings severely restrict the widespread application of operational flight robots in fields requiring high precision.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] The purpose of this application is to provide a compliant control method, device, electronic device, and storage medium for a flying robot. By generating torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, and calculating the comprehensive control torque of the flight platform based on a dynamic model and a PID control algorithm, the flying robot equipped with a robotic arm is controlled. This solves the technical problems of neglecting dynamic coupling effects, lacking adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, the control efficiency of the flying robot equipped with a robotic arm is improved.

[0006] In a first aspect, this application provides a compliant control method for a flying robot, used to control a flying robot equipped with a robotic arm, comprising the following steps:

[0007] Acquire dynamic data of a flying robot equipped with a robotic arm;

[0008] A dynamic model of the flying robot equipped with a robotic arm, corresponding to the dynamic data, is constructed.

[0009] Based on a preset impedance control model and a preset hybrid control model, a torque command for the end effector of the robotic arm is generated.

[0010] Based on the dynamic model and combined with the PID control algorithm, the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm is calculated.

[0011] The flying robot equipped with a robotic arm is controlled based on the torque command and the integrated control torque.

[0012] The compliant control method for flying robots provided in this application can control flying robots equipped with robotic arms. By generating torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, and calculating the comprehensive control torque of the flight platform based on a dynamic model and a PID control algorithm, the flying robot equipped with a robotic arm can be controlled. This solves the technical problems of neglecting dynamic coupling effects, lack of adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, the control efficiency of flying robots equipped with robotic arms is improved.

[0013] Optionally, based on a preset impedance control model and a preset hybrid control model, a torque command for the end effector of the robotic arm is generated, including:

[0014] Based on a preset impedance control model, the target contact force at the end of the robotic arm is calculated.

[0015] The target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm.

[0016] Optionally, the steps for constructing the preset impedance control model include:

[0017] Based on the dynamic relationship between force and position, a preliminary impedance control model is constructed;

[0018] The initial impedance control model is optimized by a preset adaptive adjustment strategy to obtain the preset impedance control model.

[0019] The compliant control method for flying robots provided in this application can control flying robots equipped with robotic arms. By introducing an adaptive adjustment strategy to optimize the impedance control model, the impedance parameters can be dynamically adjusted according to the actual working environment and task requirements, thereby improving the system's adaptability to different contact stiffness and external disturbances and enhancing the robustness of the flying robot control system.

[0020] Optionally, the preset adaptive adjustment strategy includes a preset stiffness adaptive adjustment strategy and a preset damping adaptive adjustment strategy.

[0021] Optionally, based on the dynamic model and combined with a PID control algorithm, the comprehensive control torque of the flight platform in the flying robot equipped with a robotic arm is calculated, including:

[0022] Based on the dynamic model, the coupling torque of the robotic arm motion on the flight platform in the flying robot equipped with the robotic arm is calculated.

[0023] Based on the PID control algorithm, the desired control torque of the flight platform in the flying robot equipped with the robotic arm is calculated.

[0024] The combined control torque of the flight platform is calculated based on the coupling torque and the desired control torque.

[0025] The compliant control method for flying robots provided in this application can control flying robots equipped with robotic arms. By actively compensating for the coupling torque generated by the movement of the robotic arm on the flying platform and combining it with a PID control algorithm to calculate the desired control torque, the method effectively suppresses the influence of the robotic arm movement on the stability of the flying platform and significantly improves the attitude stability and position accuracy of the flying platform during the operation of the robotic arm.

[0026] Optionally, the flying robot equipped with a robotic arm is controlled based on the torque command and the integrated control torque, including:

[0027] Based on the torque command and the comprehensive control torque, a closed-loop control mechanism is used to generate control signals to drive each actuator in the flying robot equipped with a robotic arm.

[0028] According to the control signal, each actuator in the flying robot equipped with the robotic arm is controlled to control the flying robot equipped with the robotic arm.

[0029] Optionally, according to the control signal, each actuator in the flying robot equipped with the robotic arm is controlled to control the flying robot equipped with the robotic arm, including:

[0030] Based on the PID control algorithm, the desired control acceleration of the flight platform in the flying robot equipped with the robotic arm is calculated.

[0031] According to the control signal, each actuator in the flying robot equipped with the robotic arm is controlled so that the flying platform adjusts its position based on the desired control acceleration, thereby realizing the control of the flying robot equipped with the robotic arm.

[0032] Secondly, this application provides a compliant control device for a flying robot, used to control a flying robot equipped with a robotic arm, comprising:

[0033] The acquisition module is used to acquire dynamic data of a flying robot equipped with a robotic arm;

[0034] A construction module is used to construct a dynamic model of the flying robot equipped with a robotic arm that corresponds to the dynamic data;

[0035] The generation module is used to generate torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model.

[0036] The calculation module is used to calculate the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm based on the dynamic model and in combination with the PID control algorithm.

[0037] The control module is used to control the flying robot equipped with the robotic arm based on the torque command and the comprehensive control torque.

[0038] This compliant control device for flying robots controls the flying robot equipped with a robotic arm by generating torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, as well as calculating the comprehensive control torque of the flight platform based on a dynamic model and a PID control algorithm. This solves the technical problems of neglecting dynamic coupling effects, lack of adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, it improves the control efficiency of flying robots equipped with robotic arms.

[0039] Thirdly, this application provides an electronic device including a processor and a memory, the memory storing a computer program executable by the processor, wherein when the processor executes the computer program, it performs the steps of the compliant control method for a flying robot described above.

[0040] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the compliant control method for a flying robot described above.

[0041] Beneficial effects: The compliant control method, device, electronic equipment and storage medium for flying robots provided in this application control flying robots equipped with robotic arms by using torque commands generated at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, and the comprehensive control torque of the flight platform calculated based on a dynamic model and a PID control algorithm. This solves the technical problems of neglecting dynamic coupling effects, lack of adaptive control parameters and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, the control efficiency of flying robots equipped with robotic arms is improved. Attached Figure Description

[0042] Figure 1 A flowchart illustrating the compliant control method for a flying robot provided in this application embodiment.

[0043] Figure 2 This is a schematic diagram of the structure of the compliant control device for a flying robot provided in an embodiment of this application.

[0044] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0045] Labeling Explanation: 1. Acquisition Module; 2. Construction Module; 3. Generation Module; 4. Calculation Module; 5. Control Module; 301. Processor; 302. Memory; 303. Communication Bus. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally 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 represents selected embodiments of this 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.

[0047] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0048] Please refer to Figure 1 , Figure 1 This application discloses a compliant control method for a flying robot, as described in some embodiments, for controlling a flying robot equipped with a robotic arm, comprising:

[0049] Step S1: Obtain the dynamic data of the flying robot equipped with a robotic arm;

[0050] Step S2: Construct a dynamic model of a flying robot equipped with a robotic arm that corresponds to the dynamic data;

[0051] Step S3: Based on the preset impedance control model and the preset hybrid control model, generate the torque command for the end effector of the robotic arm;

[0052] Step S4: Based on the dynamic model and combined with the PID control algorithm, calculate the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm.

[0053] Step S5: Control the flying robot equipped with a robotic arm based on torque commands and integrated control torque.

[0054] This compliant control method for flying robots controls a flying robot equipped with a robotic arm by using torque commands generated at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, as well as the comprehensive control torque of the flight platform calculated based on a dynamic model and a PID control algorithm. This method addresses the technical problems of neglecting dynamic coupling effects, lacking adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots for high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, it improves the control efficiency of flying robots equipped with robotic arms.

[0055] Specifically, in step S1, dynamic data of the flying robot equipped with a robotic arm is acquired, including various parameters describing the motion state and force conditions of the flying robot (including the flight platform and the robotic arm), such as mass, inertia, position, velocity, acceleration, and the forces and torques acting on it. These parameters can be obtained in various ways. For example, various sensors, such as inertial measurement units (IMUs), encoders, force / torque sensors, etc., can be installed on the flying robot to collect information in real time on the attitude, angular velocity, joint angles, joint angular velocities, and end effector forces of the flight platform (i.e., a common drone, such as a multi-rotor flight platform) and the robotic arm.

[0056] Specifically, in step S2, the flight platform and the robotic arm are considered as a complete series system, and a dynamic model of the flight robot corresponding to the dynamic data is constructed. The dynamic model is as follows:

[0057] ;

[0058] in, The generalized coordinate vector of the flying robot is its pose information (including the horizontal, vertical, yaw, pitch, and roll angles of the flight platform, as well as the horizontal, vertical, yaw, pitch, and roll angles of each joint of the robotic arm). The acceleration of the flying robot (the second derivative of the flying robot's pose information with respect to time t); For the generalized inertial matrix of the flying robot; For the Coriolis force and centrifugal force terms of the flying robot; This is the term related to gravity. For the generalized control force / torque vector of the flying robot, , The control force / torque vector of the flight platform (which can be obtained through a torque sensor installed between the flight platform and the robotic arm). This refers to the control force / torque vector of the robotic arm; The Jacobian matrix of the robotic arm's end effector relative to the generalized coordinates can be calculated using existing techniques. This represents the vector of external contact force / torque sensed at the end effector of the robotic arm. The pose information is also included. acceleration Generalized control force / torque vector External contact force / torque vector This can be obtained through sensors installed at the corresponding locations; generalized inertial matrix. Coriolis force and centrifugal force terms and gravity term It can be obtained through existing technology or instructions.

[0059] Specifically, in step S3, based on a preset impedance control model and a preset hybrid control model, a torque command for the robotic arm end effector is generated, including:

[0060] Based on the preset impedance control model, the target contact force at the end of the robotic arm is calculated.

[0061] The target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm.

[0062] Specifically, in step S3, the steps for constructing the preset impedance control model include:

[0063] Based on the dynamic relationship between force and position, a preliminary impedance control model is constructed;

[0064] The preset impedance control model is obtained by optimizing the initial impedance control model through a preset adaptive adjustment strategy.

[0065] When constructing the pre-defined impedance control model, a mathematical model describing the relationship between force and position deviation is established based on the desired interaction characteristics between the robotic arm and the environment, such as desired stiffness, damping, and inertia. This preliminary model defines the ideal behavior of the robotic arm's end effector in responding to external forces, determining its position or velocity. The preliminary impedance control model is as follows:

[0066] ;

[0067] in, The target inertia matrix; The target damping matrix; The target stiffness matrix; This is the actual acceleration at the end of the robotic arm; The target acceleration at the end effector of the robotic arm; This refers to the actual speed at the end of the robotic arm; The target speed at the end of the robotic arm; This represents the actual pose of the robotic arm's end effector. The target position at the end effector of the robotic arm; The target contact force is the force at the end of the robotic arm.

[0068] Based on the initial impedance control model, a mechanism is introduced that can dynamically adjust the model parameters according to real-time environmental feedback or task requirements. This adaptive adjustment strategy aims to overcome the limitations of fixed-parameter impedance control in the face of uncertain environments, enabling the impedance control model to optimize the stiffness and damping matrices according to actual conditions, so as to better adapt to changes in the external environment and obtain the preset impedance control model.

[0069] The preset adaptive adjustment strategies include a preset stiffness adaptive adjustment strategy and a preset damping adaptive adjustment strategy. The preset stiffness adaptive adjustment strategy specifically adjusts stiffness according to the stiffness adaptive adjustment formula, which is as follows:

[0070] ;

[0071] in, This is the adjusted stiffness matrix; is the initial stiffness matrix; A is the positive definite stiffness gain matrix, which can be obtained from the instruction manual or experiments; is the integral variable; t is time. This adaptive stiffness adjustment formula shows that when the force tracking error remains large, the flying robot system will actively reduce the virtual stiffness, making the robotic arm more "flexible," thereby avoiding excessive contact force.

[0072] The preset adaptive damping adjustment strategy adjusts stiffness according to the adaptive damping adjustment formula, which is as follows:

[0073] ;

[0074] in, This is the adjusted damping matrix; B is the initial damping matrix; B is the positive definite damping gain matrix, which can be obtained from the instruction manual or experiments. It is a diagonal matrix function; sigmoid is a sigmoid function; The rate of change of contact force at the end of the robotic arm (i.e., external contact force / torque vector) (The derivative with respect to time t). This damping adaptive adjustment formula shows that when the contact force changes drastically (which may indicate a collision or instability), oscillations can be quickly suppressed by increasing the damping.

[0075] Therefore, the preset impedance control model is as follows:

[0076] ;

[0077] ;

[0078] .

[0079] In step S3, the target contact force at the end of the robotic arm is calculated by inputting the corresponding parameters using the aforementioned preset impedance control model.

[0080] The target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm. The preset hybrid control model is specifically as follows:

[0081] ;

[0082] ;

[0083] in, This is the torque command at the end effector of the robotic arm; The command force at the end of the robotic arm; Let J be the null projection matrix of the Jacobian matrix J; To optimize the torque of the robotic arm, settings can be made according to the instruction manual or experiments. This is used to optimize the torque of the redundant robotic arm's self-motion, such as for obstacle avoidance, avoiding joint limits, or optimizing manipulation performance, without affecting the movement and force of the end effector. The proportional gain at the end effector of the robotic arm; This represents the integral gain at the end effector of the robotic arm.

[0084] Specifically, in step S4, based on the dynamic model and combined with the PID control algorithm, the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm is calculated, including:

[0085] Based on the dynamic model, the coupling torque of the robotic arm motion on the flight platform in the flying robot equipped with the robotic arm is calculated.

[0086] Based on the PID control algorithm, the desired control torque of the flight platform in the flying robot equipped with a robotic arm is calculated.

[0087] The combined control torque of the flight platform is calculated based on the coupling torque and the desired control torque.

[0088] In step S4, by analyzing the overall dynamic model of the flying robot, the reaction torque generated by the robotic arm on the flight platform during its movement is precisely quantified to obtain the coupling torque, which is the control force / torque vector of the robotic arm. (This coupling torque can also be obtained through torque sensors located at the joints of the robotic arm.)

[0089] Using the principle of a PID (Proportional-Integral-Derivative) controller, the control torque required for the flight platform to reach the desired state is calculated based on the error between the current attitude and the desired attitude of the flight platform, thus obtaining the desired control torque. The specific formula for calculating the desired control torque is as follows:

[0090] ;

[0091] in, The desired control torque for the flight platform; The desired attitude vector of the flight platform (i.e., desired yaw angle, desired pitch angle, and desired roll angle). This refers to the actual attitude vectors of the flight platform (i.e., actual yaw angle, actual pitch angle, and actual roll angle). Let t be the desired angular velocity of the flight platform (i.e., the derivative of the desired attitude vector with respect to time t). This represents the actual angular velocity of the flight platform (i.e., the derivative of the actual attitude vector with respect to time t). This is the torque proportional gain matrix for the PID algorithm; This is the torque integral gain matrix for the PID algorithm; t represents the torque differential gain matrix of the PID algorithm; t represents time.

[0092] The coupling torque generated by the movement of the robotic arm is added to the desired control torque calculated by the PID control algorithm, so that the two torques are effectively combined to obtain the comprehensive control torque of the flight platform. This allows the flight platform to fully consider and compensate for the dynamic influence of the robotic arm when executing control commands, thereby obtaining a more accurate and stable control effect.

[0093] Specifically, in step S5, the flying robot equipped with a robotic arm is controlled based on torque commands and integrated control torque, including:

[0094] Based on torque commands and integrated control torque, control signals are generated to drive the various actuators in the flying robot equipped with a robotic arm through a closed-loop control mechanism.

[0095] Based on the control signals, the actuators in the flying robot equipped with the robotic arm are controlled to control the flying robot equipped with the robotic arm.

[0096] In step S5, a closed-loop control mechanism is used to monitor the actual state (e.g., position, velocity, or force) of each actuator in the flying robot in real time and compare it with the desired state, thereby generating an error signal. This error signal is then used to adjust the control signals (e.g., electrical or mechanical commands for the actuators such as the propeller motors of the flight platform and the joint motors of the robotic arm) to reduce the deviation between the actual state and the desired state. The purpose of this feedback mechanism is to ensure that the flying robot can accurately follow the preset motion trajectory and mechanical requirements, while effectively responding to external disturbances and changes in internal parameters.

[0097] Specifically, in step S5, the actuators of the flying robot equipped with the robotic arm are controlled according to the control signal to control the flying robot equipped with the robotic arm, including:

[0098] Based on the PID control algorithm, the desired control acceleration of the flight platform in the flying robot equipped with a robotic arm is calculated.

[0099] Based on the control signals, the actuators in the flying robot equipped with the robotic arm are controlled so that the flying platform adjusts its position based on the desired control acceleration, thereby achieving control of the flying robot equipped with the robotic arm.

[0100] In step S5, utilizing the feedback mechanism of the PID control algorithm, the desired acceleration that the flight platform should possess at the next moment is calculated in real time based on the error between the current state (e.g., position, velocity) and the desired state. This desired control acceleration serves as a direct command for the flight platform's motion, aiming to guide the flight platform to converge toward the target state. The specific formula for calculating the desired control acceleration is as follows:

[0101] ;

[0102] in, The desired control acceleration for the flight platform; This represents the desired position vector of the flight platform (i.e., the desired horizontal coordinate, desired vertical coordinate, and desired vertical coordinate). This is the actual position vector of the flight platform (i.e., the actual horizontal coordinate, the actual vertical coordinate, and the actual vertical coordinate). Let t be the desired velocity of the flight platform (i.e., the derivative of the desired position vector with respect to time t). This represents the actual velocity of the flight platform (i.e., the derivative of the actual position vector with respect to time t). This is the acceleration proportional gain matrix for the PID algorithm; This is the acceleration integral gain matrix for the PID algorithm; This is the acceleration differential gain matrix for the PID algorithm.

[0103] Therefore, the desired control acceleration of the flight platform is generated through the PID algorithm to achieve the outer loop position control of the flight platform, and the desired control torque of the flight platform is generated through the PID algorithm to achieve the inner loop attitude control of the flight platform, so that the flight platform can maintain its own stability and resist wind disturbance.

[0104] The desired control acceleration calculated above is used as a reference target for the motion of the flight platform. The control signal generated by the closed-loop control mechanism precisely drives each actuator in the flight robot (e.g., the propeller of a multi-rotor aircraft) to generate corresponding thrust or torque, so that the flight platform can actually reach or approach the desired control acceleration. Based on this, the position is precisely adjusted, thereby realizing the control of the flight robot equipped with a robotic arm.

[0105] As can be seen from the above, the compliant control method for flying robots acquires the dynamic data of a flying robot equipped with a robotic arm, constructs a dynamic model of the flying robot with a robotic arm corresponding to the dynamic data, generates torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, calculates the comprehensive control torque of the flight platform in the flying robot with a robotic arm based on the dynamic model and a PID control algorithm, and controls the flying robot with a robotic arm based on the torque commands and the comprehensive control torque. Thus, by using the torque commands at the end of the robotic arm generated based on the preset impedance control model and the preset hybrid control model, and the comprehensive control torque of the flight platform calculated based on the dynamic model and the PID control algorithm, the flying robot with a robotic arm is controlled. This solves the technical problems of neglecting the dynamic coupling effect, lacking adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, the control efficiency of the flying robot with a robotic arm is improved.

[0106] refer to Figure 2 This application provides a compliant control device for a flying robot, used to control a flying robot equipped with a robotic arm, comprising:

[0107] Module 1 is used to acquire dynamic data of a flying robot equipped with a robotic arm;

[0108] Module 2 is used to construct a dynamic model of a flying robot equipped with a robotic arm that corresponds to the dynamic data;

[0109] The generation module 3 is used to generate torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model.

[0110] Calculation module 4 is used to calculate the comprehensive control torque of the flight platform in the flying robot equipped with a robotic arm based on the dynamic model and combined with the PID control algorithm.

[0111] Control module 5 is used to control the flying robot equipped with a robotic arm based on torque commands and comprehensive control torque.

[0112] This compliant control device for flying robots controls the flying robot equipped with a robotic arm by generating torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, as well as calculating the comprehensive control torque of the flight platform based on a dynamic model and a PID control algorithm. This solves the technical problems of neglecting dynamic coupling effects, lack of adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, it improves the control efficiency of flying robots equipped with robotic arms.

[0113] Specifically, when module 1 is executed, it acquires the dynamic data of the flying robot equipped with a robotic arm. This includes various parameters describing the motion state and force conditions of the flying robot (including the flight platform and the robotic arm), such as mass, inertia, position, velocity, acceleration, and the forces and torques acting on it. These parameters can be obtained in various ways. For example, various sensors, such as inertial measurement units (IMUs), encoders, and force / torque sensors, can be installed on the flying robot to collect information in real time on the attitude, angular velocity, joint angles, joint angular velocities, and end effector forces of the flight platform (i.e., a typical drone, such as a multi-rotor flight platform) and the robotic arm.

[0114] Specifically, during execution, module 2 treats the flight platform and robotic arm as a complete serial system, constructing a dynamic model of the flight robot corresponding to the dynamic data. The dynamic model is as follows:

[0115] ;

[0116] in, The generalized coordinate vector of the flying robot is its pose information (including the horizontal, vertical, yaw, pitch, and roll angles of the flight platform, as well as the horizontal, vertical, yaw, pitch, and roll angles of each joint of the robotic arm). The acceleration of the flying robot (the second derivative of the flying robot's pose information with respect to time t); For the generalized inertial matrix of the flying robot; For the Coriolis force and centrifugal force terms of the flying robot; This is the term related to gravity. For the generalized control force / torque vector of the flying robot, , The control force / torque vector of the flight platform (which can be obtained through a torque sensor installed between the flight platform and the robotic arm). This refers to the control force / torque vector of the robotic arm; The Jacobian matrix of the robotic arm's end effector relative to the generalized coordinates can be calculated using existing techniques. This represents the vector of external contact force / torque sensed at the end effector of the robotic arm. The pose information is also included. acceleration Generalized control force / torque vector Jacobian matrix External contact force / torque vector This can be obtained through sensors installed at the corresponding locations; generalized inertial matrix. Coriolis force and centrifugal force terms and gravity term It can be obtained through existing technology or instructions.

[0117] Specifically, when generating the torque command for the robotic arm end effector based on the preset impedance control model and the preset hybrid control model, the generation module 3 executes:

[0118] Based on the preset impedance control model, the target contact force at the end of the robotic arm is calculated.

[0119] The target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm.

[0120] Specifically, the steps for constructing the pre-defined impedance control model include:

[0121] Based on the dynamic relationship between force and position, a preliminary impedance control model is constructed;

[0122] The preset impedance control model is obtained by optimizing the initial impedance control model through a preset adaptive adjustment strategy.

[0123] When constructing the pre-defined impedance control model, a mathematical model describing the relationship between force and position deviation is established based on the desired interaction characteristics between the robotic arm and the environment, such as desired stiffness, damping, and inertia. This preliminary model defines the ideal behavior of the robotic arm's end effector in responding to external forces, determining its position or velocity. The preliminary impedance control model is as follows:

[0124] ;

[0125] in, The target inertia matrix; The target damping matrix; The target stiffness matrix; This is the actual acceleration at the end of the robotic arm; The target acceleration at the end effector of the robotic arm; This refers to the actual speed at the end of the robotic arm; The target speed at the end of the robotic arm; This represents the actual pose of the robotic arm's end effector. The target position at the end effector of the robotic arm; The target contact force is the force at the end of the robotic arm.

[0126] Based on the initial impedance control model, a mechanism is introduced that can dynamically adjust the model parameters according to real-time environmental feedback or task requirements. This adaptive adjustment strategy aims to overcome the limitations of fixed-parameter impedance control in the face of uncertain environments, enabling the impedance control model to optimize the stiffness and damping matrices according to actual conditions, so as to better adapt to changes in the external environment and obtain the preset impedance control model.

[0127] The preset adaptive adjustment strategies include a preset stiffness adaptive adjustment strategy and a preset damping adaptive adjustment strategy. The preset stiffness adaptive adjustment strategy specifically adjusts stiffness according to the stiffness adaptive adjustment formula, which is as follows:

[0128] ;

[0129] in, This is the adjusted stiffness matrix; is the initial stiffness matrix; A is the positive definite stiffness gain matrix, which can be obtained from the instruction manual or experiments; is the integral variable; t is time. This adaptive stiffness adjustment formula shows that when the force tracking error remains large, the flying robot system will actively reduce the virtual stiffness, making the robotic arm more "flexible," thereby avoiding excessive contact force.

[0130] The preset adaptive damping adjustment strategy adjusts stiffness according to the adaptive damping adjustment formula, which is as follows:

[0131] ;

[0132] in, This is the adjusted damping matrix; B is the initial damping matrix; B is the positive definite damping gain matrix, which can be obtained from the instruction manual or experiments. It is a diagonal matrix function; sigmoid is a sigmoid function; The rate of change of contact force at the end of the robotic arm (i.e., external contact force / torque vector) (The derivative with respect to time t). This damping adaptive adjustment formula shows that when the contact force changes drastically (which may indicate a collision or instability), oscillations can be quickly suppressed by increasing the damping.

[0133] Therefore, the preset impedance control model is as follows:

[0134] ;

[0135] ;

[0136] .

[0137] When the generation module 3 is executed, it uses the aforementioned preset impedance control model, inputs the corresponding parameters, and calculates the target contact force at the end of the robotic arm.

[0138] The target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm. The preset hybrid control model is specifically as follows:

[0139] ;

[0140] ;

[0141] in, This is the torque command at the end effector of the robotic arm; The command force at the end of the robotic arm; Let J be the null projection matrix of the Jacobian matrix J; To optimize the torque of the robotic arm, settings can be made according to the instruction manual or experiments. This is used to optimize the torque of the redundant robotic arm's self-motion, such as for obstacle avoidance, avoiding joint limits, or optimizing manipulation performance, without affecting the movement and force of the end effector. The proportional gain at the end effector of the robotic arm; This represents the integral gain at the end effector of the robotic arm.

[0142] Specifically, when calculation module 4 calculates the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm based on the dynamic model and combined with the PID control algorithm, it executes:

[0143] Based on the dynamic model, the coupling torque of the robotic arm motion on the flight platform in the flying robot equipped with the robotic arm is calculated.

[0144] Based on the PID control algorithm, the desired control torque of the flight platform in the flying robot equipped with a robotic arm is calculated.

[0145] The combined control torque of the flight platform is calculated based on the coupling torque and the desired control torque.

[0146] During execution, calculation module 4 analyzes the overall dynamic model of the flying robot to accurately quantify the reaction torque generated by the robotic arm on the flight platform during its movement, thus obtaining the coupling torque, which is the control force / torque vector of the robotic arm. (This coupling torque can also be obtained through torque sensors located at the joints of the robotic arm.)

[0147] Using the principle of a PID (Proportional-Integral-Derivative) controller, the control torque required for the flight platform to reach the desired state is calculated based on the error between the current attitude and the desired attitude of the flight platform, thus obtaining the desired control torque. The specific formula for calculating the desired control torque is as follows:

[0148] ;

[0149] in, The desired control torque for the flight platform; The desired attitude vector of the flight platform (i.e., desired yaw angle, desired pitch angle, and desired roll angle). This refers to the actual attitude vectors of the flight platform (i.e., actual yaw angle, actual pitch angle, and actual roll angle). Let t be the desired angular velocity of the flight platform (i.e., the derivative of the desired attitude vector with respect to time t). This represents the actual angular velocity of the flight platform (i.e., the derivative of the actual attitude vector with respect to time t). This is the torque proportional gain matrix for the PID algorithm; This is the torque integral gain matrix for the PID algorithm; t represents the torque differential gain matrix of the PID algorithm; t represents time.

[0150] The coupling torque generated by the movement of the robotic arm is added to the desired control torque calculated by the PID control algorithm, so that the two torques are effectively combined to obtain the comprehensive control torque of the flight platform. This allows the flight platform to fully consider and compensate for the dynamic influence of the robotic arm when executing control commands, thereby obtaining a more accurate and stable control effect.

[0151] Specifically, when controlling the flying robot equipped with a robotic arm based on torque commands and comprehensive control torque, control module 5 executes:

[0152] Based on torque commands and integrated control torque, control signals are generated to drive the various actuators in the flying robot equipped with a robotic arm through a closed-loop control mechanism.

[0153] Based on the control signals, the actuators in the flying robot equipped with the robotic arm are controlled to control the flying robot equipped with the robotic arm.

[0154] During execution, control module 5 uses a closed-loop control mechanism to monitor the actual state (e.g., position, velocity, or force) of each actuator in the flying robot in real time and compares it with the desired state, thereby generating an error signal. This error signal is then used to adjust control signals (e.g., electrical or mechanical commands for the actions of actuators such as the propeller motors of the flight platform and the joint motors of the robotic arm) to reduce the deviation between the actual and desired states. The purpose of this feedback mechanism is to ensure that the flying robot can accurately follow the preset motion trajectory and mechanical requirements, while effectively responding to external disturbances and changes in internal parameters.

[0155] Specifically, when control module 5 controls the various actuators in the flying robot equipped with the robotic arm according to the control signals, in order to control the flying robot equipped with the robotic arm, it executes:

[0156] Based on the PID control algorithm, the desired control acceleration of the flight platform in the flying robot equipped with a robotic arm is calculated.

[0157] Based on the control signals, the actuators in the flying robot equipped with the robotic arm are controlled so that the flying platform adjusts its position based on the desired control acceleration, thereby achieving control of the flying robot equipped with the robotic arm.

[0158] During execution, control module 5 utilizes the feedback mechanism of the PID control algorithm to calculate, in real time, the desired acceleration that the flight platform should possess at the next moment, based on the error between the current state (e.g., position, velocity) and the desired state. This desired control acceleration serves as a direct command for the flight platform's motion, aiming to guide the flight platform to converge towards the target state. The specific formula for calculating the desired control acceleration is as follows:

[0159] ;

[0160] in, The desired control acceleration for the flight platform; This represents the desired position vector of the flight platform (i.e., the desired horizontal coordinate, desired vertical coordinate, and desired vertical coordinate). This is the actual position vector of the flight platform (i.e., the actual horizontal coordinate, the actual vertical coordinate, and the actual vertical coordinate). Let t be the desired velocity of the flight platform (i.e., the derivative of the desired position vector with respect to time t). This represents the actual velocity of the flight platform (i.e., the derivative of the actual position vector with respect to time t). This is the acceleration proportional gain matrix for the PID algorithm; This is the acceleration integral gain matrix for the PID algorithm; This is the acceleration differential gain matrix for the PID algorithm.

[0161] Therefore, the desired control acceleration of the flight platform is generated through the PID algorithm to achieve the outer loop position control of the flight platform, and the desired control torque of the flight platform is generated through the PID algorithm to achieve the inner loop attitude control of the flight platform, so that the flight platform can maintain its own stability and resist wind disturbance.

[0162] The desired control acceleration calculated above is used as a reference target for the motion of the flight platform. The control signal generated by the closed-loop control mechanism precisely drives each actuator in the flight robot (e.g., the propeller of a multi-rotor aircraft) to generate corresponding thrust or torque, so that the flight platform can actually reach or approach the desired control acceleration. Based on this, the position is precisely adjusted, thereby realizing the control of the flight robot equipped with a robotic arm.

[0163] As can be seen from the above, the compliant control device for the flying robot acquires the dynamic data of the flying robot equipped with a robotic arm, constructs a dynamic model of the flying robot equipped with a robotic arm corresponding to the dynamic data, generates torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model, calculates the comprehensive control torque of the flight platform in the flying robot equipped with a robotic arm based on the dynamic model and a PID control algorithm, and controls the flying robot equipped with a robotic arm based on the torque commands and the comprehensive control torque. Thus, by using the torque commands at the end of the robotic arm generated based on the preset impedance control model and the preset hybrid control model, and the comprehensive control torque of the flight platform calculated based on the dynamic model and the PID control algorithm, the flying robot equipped with a robotic arm is controlled. This solves the technical problems of neglecting the dynamic coupling effect, lacking adaptive control parameters, and insufficient suppression of high-frequency disturbances in existing operational flying robots in high-precision contact operations. By modeling and controlling the flight platform and robotic arm as a complete system, the control efficiency of the flying robot equipped with a robotic arm is improved.

[0164] Please refer to Figure 3 , Figure 3This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other via a communication bus 303 and / or other connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is running, the processor 301 executes the computer program to perform the compliant control method for a flying robot in any optional implementation of the above embodiments, to achieve the following functions: acquiring dynamic data of a flying robot equipped with a robotic arm; constructing a dynamic model of the flying robot equipped with a robotic arm corresponding to the dynamic data; generating a torque command at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model; calculating the comprehensive control torque of the flight platform in the flying robot equipped with a robotic arm according to the dynamic model and combined with a PID control algorithm; and controlling the flying robot equipped with a robotic arm based on the torque command and the comprehensive control torque.

[0165] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it executes the compliant control method for a flying robot in any optional implementation of the above embodiments to achieve the following functions: acquiring dynamic data of a flying robot equipped with a robotic arm; constructing a dynamic model of the flying robot equipped with a robotic arm corresponding to the dynamic data; generating a torque command at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model; calculating the comprehensive control torque of the flight platform in the flying robot equipped with a robotic arm based on the dynamic model and a PID control algorithm; and controlling the flying robot equipped with a robotic arm based on the torque command and the comprehensive control torque. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0166] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0167] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0168] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0169] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0170] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A compliant control method for a flying robot, used to control a flying robot equipped with a robotic arm, characterized in that, Including the following steps: Acquire dynamic data of a flying robot equipped with a robotic arm; A dynamic model of the flying robot equipped with a robotic arm, corresponding to the dynamic data, is constructed. Based on a preset impedance control model and a preset hybrid control model, a torque command for the end effector of the robotic arm is generated. Based on the dynamic model and combined with the PID control algorithm, the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm is calculated. The flying robot equipped with a robotic arm is controlled based on the torque command and the integrated control torque. The specific dynamic model is as follows: ； in, For the generalized coordinate vector of the flying robot; For the acceleration of the flying robot; For the generalized inertial matrix of the flying robot; For the Coriolis force and centrifugal force terms of the flying robot; This is the term related to gravity. For the generalized control force / torque vector of the flying robot, , For the control force / torque vector of the flight platform, This is the control force / torque vector of the robotic arm; Let be the Jacobian matrix of the robotic arm's end effector relative to the generalized coordinates; This is the vector of external contact force / torque sensed at the end effector of the robotic arm. The preset impedance control model is specifically as follows: ； ； ； in, The target inertia matrix; This is the actual acceleration at the end of the robotic arm; The target acceleration at the end effector of the robotic arm; This refers to the actual speed at the end of the robotic arm; The target speed at the end of the robotic arm; This represents the actual pose of the robotic arm's end effector. The target position at the end effector of the robotic arm; The target contact force at the end of the robotic arm; This is the adjusted stiffness matrix; Let A be the initial stiffness matrix; A is the positive definite stiffness gain matrix. t is the integral variable; t is time. This is the adjusted damping matrix; Let B be the initial damping matrix; B is the positive definite damping gain matrix. It is a diagonal matrix function; sigmoid is a sigmoid function; The rate of change of contact force at the end of the robotic arm; The preset hybrid control model is specifically as follows: ； ； in, This is the torque command at the end effector of the robotic arm; The command force at the end of the robotic arm; Let J be the null projection matrix of the Jacobian matrix J; Optimize torque for robotic arms; The proportional gain at the end effector of the robotic arm; This represents the integral gain at the end effector of the robotic arm.

2. The compliant control method for a flight robot according to claim 1, characterized in that, Based on a preset impedance control model and a preset hybrid control model, a torque command for the end effector of the robotic arm is generated, including: Based on a preset impedance control model, the target contact force at the end of the robotic arm is calculated; the target contact force is input into a preset hybrid control model to calculate the torque command at the end of the robotic arm.

3. The compliant control method for a flight robot according to claim 1, characterized in that, The steps for constructing the preset impedance control model include: Based on the dynamic relationship between force and position, a preliminary impedance control model is constructed; The initial impedance control model is optimized by a preset adaptive adjustment strategy to obtain the preset impedance control model.

4. The compliant control method for a flight robot according to claim 3, characterized in that, The preset adaptive adjustment strategy includes a preset stiffness adaptive adjustment strategy and a preset damping adaptive adjustment strategy.

5. The compliant control method for a flight robot according to claim 1, characterized in that, Based on the aforementioned dynamic model and combined with the PID control algorithm, the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm is calculated, including: Based on the dynamic model, the coupling torque of the robotic arm motion on the flight platform in the flying robot equipped with the robotic arm is calculated. Based on the PID control algorithm, the desired control torque of the flight platform in the flying robot equipped with the robotic arm is calculated. The combined control torque of the flight platform is calculated based on the coupling torque and the desired control torque.

6. The compliant control method for a flight robot according to claim 1, characterized in that, Based on the torque command and the integrated control torque, the flying robot equipped with the robotic arm is controlled, including: Based on the torque command and the comprehensive control torque, a closed-loop control mechanism is used to generate control signals to drive each actuator in the flying robot equipped with a robotic arm. According to the control signal, each actuator in the flying robot equipped with the robotic arm is controlled to control the flying robot equipped with the robotic arm.

7. The compliant control method for a flight robot according to claim 6, characterized in that, According to the control signal, the actuators in the flying robot equipped with the robotic arm are controlled to control the flying robot equipped with the robotic arm, including: Based on the PID control algorithm, the desired control acceleration of the flight platform in the flying robot equipped with the robotic arm is calculated. According to the control signal, each actuator in the flying robot equipped with the robotic arm is controlled so that the flying platform adjusts its position based on the desired control acceleration, thereby realizing the control of the flying robot equipped with the robotic arm.

8. A compliant control device for a flying robot, used to control a flying robot equipped with a robotic arm, characterized in that, include: The acquisition module is used to acquire dynamic data of a flying robot equipped with a robotic arm; A construction module is used to construct a dynamic model of the flying robot equipped with a robotic arm that corresponds to the dynamic data; The generation module is used to generate torque commands at the end of the robotic arm based on a preset impedance control model and a preset hybrid control model. The calculation module is used to calculate the comprehensive control torque of the flight platform in the flying robot equipped with the robotic arm based on the dynamic model and in combination with the PID control algorithm. A control module is used to control the flying robot equipped with a robotic arm based on the torque command and the comprehensive control torque; The specific dynamic model is as follows: ； in, For the generalized coordinate vector of the flying robot; For the acceleration of the flying robot; For the generalized inertial matrix of the flying robot; For the Coriolis force and centrifugal force terms of the flying robot; This is the term related to gravity. For the generalized control force / torque vector of the flying robot, , For the control force / torque vector of the flight platform, This is the control force / torque vector of the robotic arm; Let be the Jacobian matrix of the robotic arm's end effector relative to the generalized coordinates; This is the vector of external contact force / torque sensed at the end effector of the robotic arm. The preset impedance control model is specifically as follows: ； ； ； in, The target inertia matrix; This is the actual acceleration at the end of the robotic arm; The target acceleration at the end effector of the robotic arm; This refers to the actual speed at the end of the robotic arm; The target speed at the end of the robotic arm; This represents the actual pose of the robotic arm's end effector. The target position at the end effector of the robotic arm; The target contact force at the end of the robotic arm; This is the adjusted stiffness matrix; Let A be the initial stiffness matrix; A is the positive definite stiffness gain matrix. t is the integral variable; t is time. This is the adjusted damping matrix; Let B be the initial damping matrix; B is the positive definite damping gain matrix. It is a diagonal matrix function; sigmoid is a sigmoid function; The rate of change of contact force at the end of the robotic arm; The preset hybrid control model is specifically as follows: ； ； in, This is the torque command at the end effector of the robotic arm; The command force at the end of the robotic arm; Let J be the null projection matrix of the Jacobian matrix J; Optimize torque for robotic arms; The proportional gain at the end effector of the robotic arm; This represents the integral gain at the end effector of the robotic arm.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program executable by the processor, and when the processor executes the computer program, it performs the steps in the compliant control method for a flying robot as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the steps in the compliant control method for a flying robot as described in any one of claims 1-7.

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