Robot dynamics control method and device, electronic equipment, computer readable storage medium and computer program product

Abstract

The invention provides a dynamics control method and device of a robot, electronic equipment, a computer readable storage medium and a computer program product. The method comprises the steps that according to a linear motor and a closed chain structure, a first constraint relation between the length of the linear motor and the included angle of adjacent connecting rods in the closed chain structure is determined; according to the multiple connecting rods in the closed chain structure, the second constraint relation between the included angle and the rotating angle of the adjacent connecting rods in the closed chain structure is determined, and the rotating angle is the angle of the closed chain structure driven by the linear motor to rotate around the rotating joint; solving by combining the first constraint relationship and the second constraint relationship to obtain a conversion relationship between the thrust of the linear motor and the torque of the rotary joint; and according to the conversion relation, the real-time thrust of the linear motor is converted into real-time torque acting on the rotary joint, and the robot is controlled based on the real-time torque. According to the application, accurate mapping from the thrust of the linear motor to the rotating torque can be realized, and the dynamic control requirement of the robot is met.

Description

Technical Field

[0001] This application relates to robotics technology, and more particularly to a method, apparatus, electronic device, computer-readable storage medium, and computer program product for controlling the dynamics of a robot. Background Technology

[0002] With the rapid development of robotics technology, the demand for high efficiency and control precision in robot joint drive systems is increasing. In robot joint design, closed-chain linkages provide high rigidity and load-bearing capacity. However, different drive source types (such as rotary motors and reducers, linear motors, etc.) have varying impacts on the joint's dynamic characteristics. Therefore, to achieve precise motion control of robots, accurate dynamic modeling and calculation of joint systems, including drive sources and closed-chain transmission structures, to achieve efficient and real-time motion control has become a key requirement. Summary of the Invention

[0003] This application provides a robot dynamics control method, device, electronic device, computer-readable storage medium, and computer program product, which can achieve precise mapping from linear motor thrust to rotational torque, meeting the real-time dynamics control requirements of the robot.

[0004] The technical solution of this application embodiment is implemented as follows: This application provides a method for controlling the dynamics of a robot, the method comprising: Based on the linear motor and the closed-chain structure, a first constraint relationship is determined between the length of the linear motor and the included angle between adjacent links in the closed-chain structure. Based on the multiple links in the closed chain structure, a second constraint relationship is determined between the included angle and the rotation angle of adjacent links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint; By combining the first constraint relationship and the second constraint relationship, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is obtained; According to the conversion relationship, the real-time thrust of the linear motor is converted into a real-time torque acting on the rotary joint, and the robot is controlled based on the real-time torque.

[0005] This application provides a dynamic control device for a robot, comprising:

[0006] The constraint relationship determination module is used to determine a first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure, based on the linear motor and the closed chain structure; and to determine a second constraint relationship between the included angle between adjacent links and the rotation angle in the closed chain structure, based on multiple links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint. The conversion relationship determination module is used to solve the conversion relationship between the thrust of the linear motor and the torque of the rotary joint by combining the first constraint relationship and the second constraint relationship; The dynamics control module is used to convert the real-time thrust of the linear motor into a real-time torque acting on the rotary joint according to the conversion relationship, and to control the robot according to the real-time torque.

[0007] In the above scheme, the conversion relationship determination module is further used to differentiate the first constraint relationship to obtain a first derivative expression of the length of the linear motor with respect to the included angle; differentiate the second constraint relationship to obtain a second derivative expression of the rotation angle with respect to the included angle; integrate the first derivative expression and the second derivative expression to obtain a third derivative expression of the length of the linear motor with respect to the rotation angle; and determine the conversion relationship between the thrust of the linear motor and the torque of the rotary joint based on the third derivative expression.

[0008] In the above scheme, the transformation relationship determination module is further used to perform a reciprocal operation on the third derivative expression and use the result as the Jacobian matrix; based on the principle that the instantaneous power of the linear motor thrust is equal to the instantaneous power of the rotary joint torque, the transformation relationship is established using the Jacobian matrix, wherein the transformation relationship is characterized as the linear motor thrust being equal to the product of the Jacobian matrix and the rotary joint torque.

[0009] In the above scheme, the constraint determination module is further used to determine the line connecting the first end of the linear motor and the second end of the second link, wherein the first end is the end of the linear motor away from the second link, and the second end is the end of the second link away from the linear motor; the first constraint relationship is determined by using the geometric relationship of the line, the linear motor, the first link, and the second link.

[0010] In the above scheme, the constraint determination module is further used to obtain the angle between the connecting line and the second connecting line using the geometric relationship of the first connecting rod, the second connecting rod, and the connecting line. This angle is equal to the angle between the first connecting rod and the connecting line minus the angle between the first connecting rod and the second connecting rod. Using the geometric relationship of the connecting line, the second connecting rod, and the linear motor, the module determines the third constraint relationship. The third constraint relationship includes: the square of the length of the connecting line is equal to the sum of the square of the length of the linear motor and the square of the length of the second connecting rod, minus twice the product of the length of the linear motor, the length of the second connecting rod, and the cosine of the angle between the connecting line and the second connecting rod. The angle between the first connecting rod and the connecting line is subtracted from the angle between the first connecting rod and the second connecting rod, and this subtraction replaces the angle between the connecting line and the second connecting rod in the third constraint relationship, thus obtaining the first constraint relationship.

[0011] In the above scheme, the constraint determination module is further configured to establish a coordinate system with the rotary joint as the origin; determine the first coordinate of the end of the third link connected to the second link in the coordinate system, and the second coordinate of the end of the third link connected to the fourth link in the coordinate system; calculate the length of the third link using the first coordinate and the second coordinate to obtain the length expression of the third link; and parse the length expression to obtain the second constraint relationship between the included angle and the rotation angle.

[0012] Memory is used to store executable instructions or computer programs. The processor, when executing computer-executable instructions or computer programs stored in the memory, implements the robot dynamics control method provided in the embodiments of this application.

[0013] This application provides a computer-readable storage medium storing a computer program or computer-executable instructions for implementing the robot dynamics control method provided in this application when executed by a processor.

[0014] This application provides a computer program product, including a computer program or computer-executable instructions. When the computer program or computer-executable instructions are executed by a processor, they implement the robot dynamics control method provided in this application.

[0015] The embodiments of this application have the following beneficial effects: By determining the first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure based on the linear motor and the closed chain structure, a direct mapping between the size of the drive unit and the internal geometric transmission angle of the closed chain structure is established. By determining the second constraint relationship between the included angle and rotation angle of adjacent links in the closed chain structure, a transmission path from the change in the transmission state of the closed chain structure to the output torque of the joint is established. Furthermore, by combining the first and second constraint relationships for solution, the intermediate geometric variables (i.e., the included angle between adjacent links in the closed chain structure) are cleverly eliminated. The geometric constraints of the length and angle of the linear motor and the dynamic mapping of the angle and torque are transformed into a direct coupling relationship between the length variable of the linear motor and the torque variable of the rotary joint. This clarifies the contribution mechanism of the linear motor thrust to the torque of the rotary joint, and realizes the accurate generation of the required rotary joint torque by directly controlling the thrust of the linear motor, which significantly improves the control accuracy and response speed of the robot in complex dynamic environments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the architecture of the robot's dynamic control system provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application; Figure 3 This is a first flowchart illustrating the robot dynamics control method provided in this application embodiment; Figure 4 This is a second flowchart illustrating the robot dynamics control method provided in the embodiments of this application; Figure 5 This is a third flowchart illustrating the robot dynamics control method provided in this application embodiment; Figure 6 This is a schematic diagram of the fourth process of the robot dynamics control method provided in the embodiments of this application; Figure 7 This is a fifth flowchart illustrating the robot dynamics control method provided in this application embodiment; Figure 8 This is a sixth flowchart illustrating the robot dynamics control method provided in this application embodiment; Figure 9 This is a seventh flowchart illustrating the robot dynamics control method provided in this application embodiment. Figure 10 This is a kinematic model of the hip and knee joints of the robot provided in the embodiments of this application; Figure 11 This is a schematic diagram of the hip joint structure provided in an embodiment of this application; Figure 12 This is a coordinate system schematic diagram of the hip joint structure provided in the embodiments of this application; Figure 13 This is the hip joint kinematics simulation verification result provided in the embodiments of this application; Figure 14 This is the knee joint kinematics simulation verification result provided in the embodiments of this application.

[0017] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0020] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0021] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0022] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0023] In the implementation of this application, the collection and processing of relevant data should strictly comply with the requirements of relevant laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0024] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0025] 1) Robot: A robot is an intelligent mechanical system that relies on a mechanical body, drive system, and control system. It can be programmed to achieve autonomous or semi-autonomous movement, operation, decision-making, and work. It can simulate some of the actions and functions of humans or other organisms to complete various complex or repetitive tasks. Examples include industrial robotic arms, humanoid robots, bionic quadruped robots, and wheeled inspection robots.

[0026] 2) Dynamics control: In the field of robotics, this is a control method based on system dynamics models to analyze, adjust and optimize dynamic parameters such as force, torque, acceleration and velocity during robot motion in real time. Its core purpose is to ensure the stability, accuracy and dynamic response capability of robot motion, so that the robot can complete the task according to the preset trajectory and mechanical requirements.

[0027] 3) Rotary joint: The core kinematic pair in the mechanical structure of a robot that connects two linkage components. It allows the two connected components to rotate relative to each other around a fixed axis, providing the robot with rotational degrees of freedom. It is the basic component that constitutes the linkage mechanism of the robot and realizes multi-dimensional rotational motion.

[0028] 4) Linear motor: A drive device that converts electrical energy into linear motion mechanical energy. It can achieve linear reciprocating motion without intermediate transmission mechanisms such as gears and lead screws, and has the characteristics of fast response, high precision, and smooth motion. Examples include linear feed axis drive modules for CNC machine tools, traction drive systems for maglev trains, and linear drive mechanisms for the printing platform of 3D printers.

[0029] 5) Rotary motor: A drive device that converts electrical energy into rotational mechanical energy. It generates rotational torque through the principle of electromagnetic induction, driving the load to rotate around a fixed axis. It is one of the most widely used power sources in industrial and civilian fields. Examples include servo rotary motors for driving the joints of industrial robots, asynchronous motors for household fans, and permanent magnet synchronous drive motors for electric vehicles.

[0030] 6) Closed-loop structure: A closed-loop mechanism formed by several rigid links connected end-to-end through joints. Its movement has strong constraint and stability, and it can withstand greater loads. Examples include the working arm linkage mechanism of an excavator, the closed-loop transmission structure of the fingers of a bionic robotic arm, and the material handling robotic arm structure composed of parallelogram linkages.

[0031] 7) Rotation angle: The rotation angle describes the angle between the initial position and the final position of an object when it rotates around a fixed axis. It is a basic geometric parameter that characterizes the amplitude and orientation of the rotational motion. The unit is usually degrees (°) or radians (rad).

[0032] 8) Jacobian relation: In the dynamics or kinematics of multibody systems, it describes the first-order differential mapping relationship between the rate of change of the system's input variables (such as the displacement or length of the actuator) and the rate of change of the output variables (such as the rotation angle of a joint).

[0033] 9) Jacobian matrix: The Jacobian matrix is ​​a mathematical matrix that characterizes the Jacobian relationship of a robot. Its matrix elements are determined by the geometric parameters of the robot links (such as length and angle). It is a core mathematical tool for realizing motion conversion, force and torque conversion between the robot's joint space and operation space.

[0034] With the rapid development of robotics technology, the demand for high efficiency and control precision in robot joint drive systems is increasing. In robot joint design, closed-chain linkages provide high rigidity and load-bearing capacity. However, different drive source types (such as rotary motors and reducers, linear motors, etc.) have varying impacts on the joint's dynamic characteristics. Therefore, to achieve precise motion control of robots, accurate dynamic modeling and calculation of joint systems, including drive sources and closed-chain transmission structures, to achieve efficient and real-time motion control has become a key requirement.

[0035] This application provides a method, apparatus, device, computer-readable storage medium, and computer program product for robot dynamics control, which can achieve precise mapping from linear motor thrust to rotational torque, meeting the dynamics control requirements of the robot. The following describes exemplary applications of the electronic device provided in this application. The electronic device provided in this application can be implemented as a robot or an external control device for a robot, or as a server. The following will describe exemplary applications when the device is implemented as a terminal.

[0036] See Figure 1 , Figure 1 This is a schematic diagram of the architecture of the robot's dynamic control system 100 provided in an embodiment of this application. Figure 1The system involves server 200, network 300, and terminal 400. Terminal 400 connects to server 200 through network 300, which can be a wide area network (WAN), a local area network (LAN), or a combination of both.

[0037] The robot dynamics control method provided in this application can be widely applied to various mechanical structures that use linear motors and closed-loop structures, such as hip joint motion control scenarios for humanoid robots, knee joint landing cushioning control scenarios for humanoid robots, and assistive control scenarios for wearable exoskeleton robots, etc. Examples are given below.

[0038] The robot dynamics control method provided in this application can be applied to hip joint motion control scenarios for humanoid robots. In this scenario, the hip joint is the core of thigh swing and trunk balance, typically driven by a linear motor mounted on the pelvis via a closed-loop four-bar linkage to rotate the thigh bone around the hip joint axis. When the robot performs walking or running tasks, the controller collects the thrust data of the linear motor and the geometric state of the closed-loop linkage in real time, and sends the geometric state to the server. The server uses the first and second constraint relationships to solve a simultaneous equation, and through the analytically obtained Jacobian matrix, accurately maps the linear thrust of the linear motor to the rotational torque of the hip joint. The server sends the real-time calculated joint torque to the controller, which performs closed-loop feedback adjustment of the robot's gait based on the real-time joint torque, precisely controlling the swing amplitude and frequency of the thigh to ensure the walking stability of the robot in dynamic environments.

[0039] The robot dynamics control method provided in this application can be applied to the knee joint landing cushioning control scenario of a humanoid robot. In this scenario, the knee joint is driven by a linear motor similar to the quadriceps femoris muscle, and the extension and retraction of the lower leg is achieved through a linkage mechanism. When the robot jumps and lands from a height, the knee joint needs to absorb a huge amount of impact energy. Using the method of this application, the server quickly calculates the derivative relationship between linear displacement and rotation angle in the closed-chain structure based on the real-time folding angle of the knee joint, and then establishes a thrust-torque conversion model based on the principle of instantaneous power equality, and sends the converted actual bearing torque to the controller. The controller adjusts the output thrust or impedance parameters of the linear motor in real time according to the actual bearing torque of the knee joint, realizing compliant force-position hybrid control, thereby protecting the mechanical structure while using the reverse torque to help the robot quickly regain its standing posture.

[0040] The robot dynamics control method provided in this application can be applied to assistive control scenarios for wearable exoskeleton robots. In this scenario, the exoskeleton is worn on the outside of the human body, and a linkage mechanism driven by a linear motor assists in the movement of human joints (such as the waist or elbow joints when assisting in lifting heavy objects). To ensure comfort and safety, the exoskeleton must achieve highly transparent force interaction. The server calculates the geometric parameters of the exoskeleton joints in real time, directly establishing a precise mapping between the linear motor thrust and the joint assist torque. Based on this mapping relationship, the thrust output by the linear motor is converted into an assist torque value acting on the human joint in real time, and the motor current is finely adjusted accordingly to ensure that the output torque is highly synchronized with the human's movement intention, achieving precise force-following control of "sensing as assistance".

[0041] In some embodiments, the robot dynamics control system provided in this application can be implemented independently by the terminal 400. The terminal 400 determines a first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure based on the linear motor and the closed chain structure. The terminal 400 also determines a second constraint relationship between the included angle between adjacent links and the rotation angle in the closed chain structure based on multiple links in the closed chain structure, where the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around a rotary joint. The terminal 400 solves for the conversion relationship between the thrust of the linear motor and the torque of the rotary joint by combining the first and second constraint relationships. Based on this conversion relationship, the terminal 400 converts the real-time thrust of the linear motor into a real-time torque acting on the rotary joint and controls the robot based on the real-time torque.

[0042] In some embodiments, the robot dynamics control system provided in this application can be implemented collaboratively by server 200 and terminal 400. Server 200 determines a first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure based on the linear motor and the closed chain structure. Server 200 determines a second constraint relationship between the included angle between adjacent links and the rotation angle in the closed chain structure based on multiple links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint. Server 200 solves the first and second constraint relationships to obtain the conversion relationship between the thrust of the linear motor and the torque of the rotary joint. Server 200 converts the real-time thrust of the linear motor into a real-time torque acting on the rotary joint according to the conversion relationship and sends the real-time torque to terminal 400. Terminal 400 controls the robot based on the real-time torque.

[0043] In some embodiments, server 200 may be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. Terminals and servers can be connected directly or indirectly via wired or wireless communication, which is not limited in this embodiment.

[0044] See Figure 2 , Figure 2 This is a schematic diagram of the structure of the electronic device 500 provided in the embodiments of this application. Figure 2 The illustrated electronic device 500 includes at least one processor 510, a memory 550, at least one network interface 520, and a user interface 530. The various components in the electronic device 500 are coupled together via a bus system 540. It is understood that the bus system 540 is used to implement communication between these components. In addition to a data bus, the bus system 540 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 2 The general labeled all buses as Bus System 540.

[0045] The processor 510 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0046] User interface 530 includes one or more output devices 531 that enable the presentation of media content, including one or more speakers and / or one or more visual displays. User interface 530 also includes one or more input devices 532, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

[0047] The memory 550 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state storage, hard disk drives, optical disk drives, etc. The memory 550 may optionally include one or more storage devices physically located away from the processor 510.

[0048] The memory 550 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), and the volatile memory may be random access memory (RAM). The memory 550 described in this application embodiment is intended to include any suitable type of memory.

[0049] In some embodiments, memory 550 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, as illustrated below.

[0050] Operating system 551 includes system programs for handling various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, driver layer, etc., for implementing various basic business functions and handling hardware-based tasks; The network communication module 552 is used to reach other electronic devices via one or more (wired or wireless) network interfaces 520, exemplary network interfaces 520 including: Bluetooth, WiFi, and Universal Serial Bus (USB), etc. Presentation module 553 is used to enable the presentation of information (e.g., user interface for operating peripheral devices and displaying content and information) via one or more output devices 531 (e.g., display screen, speaker, etc.) associated with user interface 530. The input processing module 554 is used to detect and translate one or more user inputs or interactions from one or more input devices 532.

[0051] In some embodiments, the apparatus provided in this application can be implemented in software. Figure 2 A robot dynamics control device 555 stored in memory 550 is shown. This device can be software in the form of programs and plug-ins, and includes the following software modules: constraint relationship determination module 5551, transformation relationship determination module 5552, and dynamics control module 5553. These modules are logically connected and can therefore be arbitrarily combined or further separated according to the functions they implement. The functions of each module will be described below.

[0052] In other embodiments, the apparatus provided in this application can be implemented in hardware. As an example, the apparatus provided in this application can be a processor in the form of a hardware decoding processor, which is programmed to execute the dynamic control method of the robot provided in this application. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0053] In some embodiments, the terminal or server can implement the robot dynamics control method provided in this application by running various computer-executable instructions or computer programs. For example, computer-executable instructions can be microprogram-level commands, machine instructions, or software instructions. Computer programs can be native programs or software modules in an operating system; they can be native applications (APPs), i.e., programs that need to be installed in the operating system to run. In summary, the aforementioned computer-executable instructions can be any form of instruction, and the aforementioned computer programs can be any form of application, module, or plugin.

[0054] The following describes the robot dynamics control method provided in the embodiments of this application. As mentioned above, the electronic device implementing the robot dynamics control method of the embodiments of this application can be a terminal, or a combination of a server and a terminal. Therefore, the executing entity of each step will not be described again below.

[0055] See Figure 3 , Figure 3 This is a first flowchart illustrating the robot dynamics control method provided in this application embodiment, which will be combined with... Figure 3 The steps shown are explained below. Figure 3 The main component of the process is electronic equipment.

[0056] In step 101, based on the linear motor and the closed-chain structure, the first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed-chain structure is determined.

[0057] Here, a linear motor refers to a driving device used as a robot joint. A linear motor can generate extension and retraction along its axis and output thrust or pull force, driving the movement of a closed chain structure by changing its own length.

[0058] Here, a closed-loop structure refers to a closed-loop linkage mechanism formed by connecting multiple links end to end. This mechanism is geometrically constrained by its size and connection relationship and has definite motion transmission characteristics.

[0059] In step 101, the included angle between adjacent links in the closed chain structure is introduced as an intermediate variable. Based on the geometric characteristics of the closed chain structure, a direct mathematical relationship is established between the length of the linear motor, a driving physical quantity, and this intermediate variable. This maps the extension and retraction motion of the linear motor to the geometric changes in the internal configuration of the closed chain structure, providing a quantitative mathematical basis for further calculation of the nonlinear transmission characteristics of the closed chain structure.

[0060] In some embodiments, the closed-loop structure includes a first link and a second link, one end of the first link being connected to one end of the second link, and the other end of the first link being connected to a rotary joint; the other end of the second link is connected to a linear motor, and the included angle between adjacent links in the closed-loop structure is the included angle between the first link and the second link. Figure 4 This is a second flowchart illustrating the robot dynamics control method provided in this application embodiment, as shown below. Figure 4 As shown, Figure 3 Step 101 shown can be implemented through the following steps 1011 to 1012, which are explained in detail below.

[0061] In step 1011, the line connecting the first end of the linear motor and the second end of the second link is determined, wherein the first end is the end of the linear motor away from the second link, and the second end is the end of the second link away from the linear motor.

[0062] Step 1011 determines the line connecting the first end of the linear motor and the second end of the second link, so that the line, the linear motor and the second link can form a geometrically closed link structure, thus providing the necessary geometric edges for constructing a geometric triangle and solving the relationship based on the positional structure between the line, the linear motor, the first link and the second link.

[0063] In step 1012, the first constraint relationship is determined by utilizing the geometric relationships of the connecting lines, the linear motor, the first link, and the second link.

[0064] Step 1012 mathematically analyzes the geometric relationship between the line, the linear motor, the first link, and the second link, thereby transforming the physical connection state between the linear motor, the first link, and the second link into a mathematical logical expression, namely the first constraint relationship, thus realizing the quantification of the geometric relationship through the first constraint relationship.

[0065] In the embodiments of this application, by determining the connection between the linear motor and the second link, and analyzing the geometric relationship formed between the connection, the linear motor, the first link, and the second link, the dispersed linear motor and the first and second links are geometrically closed-loop associated using the connection. This transforms the physical position constraints between the linear motor, the first link, and the second link into a definite mathematical expression, namely the first constraint relationship, thereby realizing the precise quantification of the linkage characteristics between the linear motor and each link using geometric analysis methods.

[0066] In some embodiments, Figure 5 This is a third flowchart illustrating the robot dynamics control method provided in this application embodiment, as shown below. Figure 5 As shown, Figure 4 Step 1012 shown can be implemented through the following steps 10121 to 10123, which are explained in detail below.

[0067] In step 10121, the angle between the connecting line and the second link is obtained by using the geometric relationship between the first link, the second link and the connecting line. This angle is equal to the angle between the first link and the connecting line minus the angle between the first link and the second link.

[0068] For ease of understanding, the relationship between the angle between the connecting line and the second link, the angle between the first link and the connecting line, and the angle between the first link and the second link can be expressed by the following formula (1): (1) in, This indicates the angle between the connecting line and the second link. This indicates the angle between the first link and the connecting line. This indicates the angle between the first link and the second link.

[0069] In step 10121, based on the geometric relationship formed by the first link, the second link, and the connecting line, the numerical conversion relationship between the angle between the connecting line and the second link, the angle between the first link and the connecting line, and the angle between the first link and the second link is determined. Thus, the geometric parameter of the angle between the connecting line and the second link is expressed as a function of the relevant angles of the first link, providing the necessary mathematical substitution terms for parameter replacement in the subsequent step 10123.

[0070] In step 10122, the third constraint relationship is determined using the geometric relationship between the connecting line, the second connecting rod, and the linear motor. The third constraint relationship includes: the square of the length of the connecting line is equal to the sum of the square of the length of the linear motor and the square of the length of the second connecting rod, minus twice the product of the length of the linear motor, the length of the second connecting rod, and the cosine of the angle between the connecting line and the second connecting rod.

[0071] In some embodiments, the third constraint relationship can be represented by the following formula (2): (2) in, Indicates the length of the linear motor. Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the second link. This represents the cosine of the angle between the connecting line and the second link.

[0072] Through step 10122, by utilizing the geometric relationship between the connecting line, the second link, and the linear motor, a third constraint relationship is constructed, which includes the length of the connecting line, the length of the linear motor, the length of the second link, and the angle between the connecting line and the second link. Thus, the accurate geometric expression of the length of the linear motor with respect to the second link and the connecting line is established using the third constraint relationship.

[0073] In some embodiments, the connecting line, the second connecting rod, and the linear motor form a closed triangle. The third constraint relationship is determined using the geometric relationships of the connecting line, the second connecting rod, and the linear motor. This can be achieved as follows: Based on the closed triangle formed by the connecting line, the second connecting rod, and the linear motor, the lengths of the three sides of the closed triangle are determined to be the lengths of the connecting line, the second connecting rod, and the linear motor, respectively. Simultaneously, the included angle opposite the linear motor is determined to be the angle between the connecting line and the second connecting rod. According to the law of cosines, the length of the linear motor is equal to the sum of the squares of the lengths of the linear motor and the second connecting rod, minus twice the product of the cosine of the angle between the lengths of the linear motor, the second connecting rod, and the linear motor (i.e., the angle between the connecting line and the second connecting rod).

[0074] In step 10123, the angle between the first link and the connecting line is subtracted from the angle between the first link and the second link, and the angle between the connecting line and the second link in the third constraint relationship is replaced to obtain the first constraint relationship.

[0075] In some embodiments, the first constraint relationship can be expressed by the following formula (3): (3) in, Indicates the length of the linear motor. Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the first link. This indicates the angle between the first link and the second link. This represents the cosine of the angle between the connecting line and the second link.

[0076] In step 10123, by subtracting the angle between the first link and the connecting line from the angle between the first link and the second link, the angle between the connecting line and the second link in the third constraint relationship is replaced. This transforms the third constraint relationship of the length of the connecting line, the length of the linear motor, the length of the second link, and the angle between the connecting line and the second link into a relationship between the length of the connecting line, the length of the linear motor, the angle between the first link and the connecting line, and the angle between the first link and the second link. This provides a numerical relationship between the length of the linear motor and the angle between the first link and the second link for subsequent solutions based on the first and second constraint relationships.

[0077] In the embodiments of this application, by comprehensively utilizing the geometric relationships of the first link, the second link, the connecting line, and the linear motor, the conversion relationships between the determined angle between the connecting line and the second link, the angle between the first link and the connecting line, and the angle between the first link and the second link are substituted into the third constraint relationship for parameter replacement to obtain the first constraint relationship. Thus, by eliminating the geometric parameter of the angle between the connecting line and the second link, the numerical relationship between the length of the linear motor and the angle between the first link and the second link is directly established, realizing an accurate geometric expression of the length of the linear motor with respect to the first link and the second link.

[0078] In some embodiments, before step 10123, the method further includes the following steps: determining the first line connecting the end of the first link away from the second link and the end of the connecting line away from the first link; determining the lengths of the three sides of the first closed triangle formed by the connecting line, the first link, and the first connecting line, respectively, based on the length of the connecting line, the length of the first link, and the length of the first connecting line, and simultaneously determining that the angle between the first link and the connecting line is opposite to the first connecting line; using the law of cosines, the cosine value of the angle between the first link and the connecting line can be obtained, which is equal to the square of the length of the first link plus the square of the length of the connecting line minus the square of the length of the first connecting line, divided by twice the product of the length of the first connecting line and the length of the connecting line; performing an inverse cosine operation on the cosine value of the angle between the first link and the connecting line to obtain the angle between the first link and the connecting line.

[0079] In some embodiments, the angle between the first link and the connecting line can be expressed by the following formula (4): (4) in, Let be the angle between the first link and the connecting line. The length of the first link. The length of the line. The length of the first connection.

[0080] In some embodiments, the end of the linear motor away from the second link can be fixedly connected to the robot, and the first link can be fixedly connected to the robot. At this time, the positions of the first link and the linear motor are relatively fixed, and the angle between the first link and the connecting line is a fixed value.

[0081] In some embodiments, the end of the linear motor away from the second link can be fixedly connected to the thigh structure of the robot, and the first link can be fixedly connected to the thigh structure of the robot. At this time, the positions of the first link and the linear motor are relatively fixed, the closed triangle formed by the first line, the line and the first link is a fixed triangle, and the included angle between the first link and the line is a fixed value.

[0082] In step 102, based on the multiple links in the closed chain structure, a second constraint relationship between the included angle and the rotation angle of adjacent links in the closed chain structure is determined, wherein the rotation angle is the angle at which the closed chain structure rotates around the rotary joint driven by the linear motor.

[0083] Here, a rotary joint refers to one end of a link in a closed chain structure, around which other links in the closed chain structure can rotate.

[0084] It is easy to understand that one end of a linear motor moves along its axis to drive a closed-loop structure.

[0085] In some embodiments, one end of the linear motor connected to the closed-loop structure moves along its axis, while the other end of the linear motor is fixedly connected to the robot, so as to ensure that the thrust of the linear motor acts directly on the closed-loop structure, thereby better driving the closed-loop structure.

[0086] In some embodiments, the closed-loop structure further includes a third link and a fourth link, one end of the third link being connected to one end of the linear motor connected to the second link, the other end of the third link being connected to one end of the fourth link, and the other end of the fourth link being connected to a rotary joint. Figure 6 This is a schematic diagram of the fourth process of the robot dynamics control method provided in this application embodiment, see below. Figure 6 , Figure 3 Step 102 shown can be implemented through the following steps 1021 to 1024, which are explained in detail below.

[0087] In step 1021, a coordinate system is established with the rotary joint as the origin.

[0088] It should be noted that the first link, the second link, the third link, and the fourth link are all located in the closed chain structure plane.

[0089] In some embodiments, Figure 11 This is a schematic diagram of the hip joint structure provided in an embodiment of this application, as shown below. Figure 11 As shown, the closed-chain structure is Figure 11 In the diagram ABCD, the first link is... Figure 11 In the diagram, AB and the second link are... Figure 11 BC and the third link are Figure 11 CD and the fourth link in the middle are Figure 11 In DA, point A is Figure 11 The rotational joint in the middle has an included angle of . Figure 11 In The rotation angle is Figure 11 In .

[0090] Step 1021 establishes a reference coordinate system with the rotary joint as the origin, providing a unified spatial reference for the closed-loop structure and the linear motor. This allows the relative position and geometric connection relationship between the closed-loop structure and the linear motor to be transformed into definite coordinate parameters for quantitative characterization. In this way, the abstract physical structure is mapped into a computable algebraic model, laying the necessary mathematical foundation for the subsequent derivation of geometric constraint equations and dynamic solution based on coordinates.

[0091] In some embodiments, the coordinate system can be a two-dimensional coordinate system, and the coordinate axes of the coordinate system are represented by the X-axis and the Y-axis.

[0092] In some embodiments, the rotary joint may be configured as the end of the first link away from the second link.

[0093] In some embodiments, the coordinate system may have the rotary joint as the origin, the direction of the first link as the X-axis, and the direction perpendicular to the first link and located on the closed-loop structure screen as the Y-axis.

[0094] In some embodiments, the coordinate system may have the rotary joint as the origin, the extension direction of the first link (i.e., the direction from the rotary joint to the second link) as the positive X-axis, and the direction perpendicular to the first link and located in the plane of the closed chain structure near the third link as the Y-axis.

[0095] In some embodiments, the rotation angle can be the angle between the first link and the fourth link.

[0096] In step 1022, the first coordinate of the end of the third link connected to the second link in the coordinate system and the second coordinate of the end of the third link connected to the fourth link in the coordinate system are determined respectively.

[0097] In step 1023, the length of the third link is calculated using the first and second coordinates to obtain the expression for the length of the third link.

[0098] It is easy to understand that since the rotation angle and the included angle between the first link and the second link are both angles in the plane of the closed chain structure, the coordinates of the first coordinate and the second coordinate can be represented by expressions that include the rotation angle and / or the included angle between the first link and the second link. Consequently, the length expression of the third link can be represented by an expression that includes the rotation angle and the included angle between the first link and the second link.

[0099] In some embodiments, the length expression of the third link can be obtained by substituting the first and second coordinates into the distance formula between the two points.

[0100] In step 1024, the length expression is parsed to obtain the second constraint relationship between the included angle and the rotation angle.

[0101] In the embodiments of this application, a unified calculation benchmark is established by setting up a coordinate system with the rotary joint as the origin, enabling the positional relationship of the closed-loop structure to be transformed into definite coordinate parameters for quantitative characterization. Then, using the endpoint coordinates of the third link and its fixed length characteristics, a length expression is constructed and analyzed, deriving the second constraint relationship between the included angle and the rotation angle, thereby completing the mathematical modeling of the geometric constraints of the closed-loop mechanism. This process provides the necessary mathematical foundation and key equation basis for subsequent simultaneous solutions based on the first constraint relationship to eliminate the intermediate variable of the included angle.

[0102] In some embodiments, the second constraint relationship between the included angle and the rotation angle can be obtained by parsing length expressions of the same type.

[0103] For example, a coordinate system is established with the rotary joint as the origin, where the extension direction of the first link is the positive X-axis, and the direction perpendicular to the first link, located in the plane of the closed chain structure, and close to the third link is the positive Y-axis; the rotation angle is taken as the angle between the first link and the fourth link, and the length of the first link is set to be... The length of the second link is The length of the third link is The length of the fourth link is The rotation angle is The angle between the first link and the second link is The first coordinate of the third link is obtained as follows: The second coordinate of the third link is From the formula for the distance between two points, we get... After merging like terms, the second constraint relationship is obtained, which is expressed by the following formula (5): (5) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0104] In step 103, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is obtained by combining the first constraint relationship and the second constraint relationship.

[0105] In some embodiments, Figure 7 This is a schematic diagram of the fifth process of the robot dynamics control method provided in the embodiments of this application. See also... Figure 7 , Figure 3 Step 103 shown can be implemented through steps 1031 to 1034, which are explained in detail below.

[0106] In step 1031, the first constraint relationship is differentiated to obtain the first derivative expression of the length of the linear motor with respect to the included angle.

[0107] In some embodiments, the first constraint relationship is represented as an equation. Differentiating the first constraint relationship can be achieved by: differentiating one side of the equation of the first constraint relationship to obtain a first derivative result; differentiating the other side of the equation of the first constraint relationship to obtain a second derivative result; and combining the first derivative result and the second derivative result to obtain a first derivative expression of the length of the linear motor with respect to the included angle.

[0108] In other embodiments, the first constraint relationship is represented as an equation. Differentiating the first constraint relationship can also be achieved by: differentiating one side of the equation with respect to the included angle to obtain a first derivative result; differentiating the other side of the equation with respect to the included angle to obtain a second derivative result; and combining the first and second derivative results to obtain a first derivative expression for the length of the linear motor with respect to the included angle.

[0109] In some embodiments, combining the first and second derivative results to obtain the first derivative expression of the linear motor's length with respect to the included angle can be achieved by: establishing an equation in which the first and second derivative results are equal; extracting the derivative result of the linear motor with respect to the included angle from the equation to obtain the first derivative expression.

[0110] For example, taking the first constraint relationship as formula (3), the derivative of the included angle on the left side of the first constraint relationship is obtained, and the first derivative result is expressed by the following formula (6): (6) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link.

[0111] Differentiating the right side of the first constraint relationship with respect to the included angle yields the second derivative, which is expressed by the following formula (7): (7) in, Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the first link. This indicates the angle between the first link and the second link. This represents the sine value of the angle between the connecting line and the second link.

[0112] An equation is established to make the first derivative result equal to the second derivative result. This equation can be expressed by the following formula (8): (8) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link. Indicates the length of the second link. Indicates the length of the connecting line. This represents the sine value of the angle between the connecting line and the second link.

[0113] Extract the derivative of the linear motor with respect to the included angle in the equation to obtain the first derivative expression, which can be expressed by the following formula (9): (9) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link. Indicates the length of the second link. Indicates the length of the connecting line. This represents the sine value of the angle between the connecting line and the second link.

[0114] In step 1032, the second constraint relationship is differentiated to obtain the second derivative expression of the rotation angle with respect to the included angle.

[0115] In some embodiments, the second constraint relationship is represented as an equation. Differentiating the second constraint relationship can be achieved by: differentiating one side of the equation of the second constraint relationship to obtain a third derivative result; differentiating the other side of the equation of the second constraint relationship to obtain a fourth derivative result; and combining the third and fourth derivative results to obtain a second derivative expression of the rotation angle with respect to the included angle.

[0116] In other embodiments, the second constraint relationship is represented as an equation. Differentiating the second constraint relationship can also be achieved by: differentiating one side of the equation of the second constraint relationship with respect to the included angle to obtain a third derivative result; differentiating the other side of the equation of the second constraint relationship with respect to the included angle to obtain a fourth derivative result; combining the third and fourth derivative results to obtain a second derivative expression of the rotation angle with respect to the included angle.

[0117] In some embodiments, combining the third and fourth derivative results to obtain the second derivative expression of the linear motor length with respect to the included angle can be achieved by: establishing an equation in which the third and fourth derivative results are equal; extracting the derivative of the rotation angle with respect to the included angle from the equation to obtain the first derivative expression.

[0118] For example, taking the second constraint relationship as formula (5), the derivative of the included angle on the left side of the second constraint relationship is taken to obtain the third derivative result, which is expressed by the following formula (10):

[0119] (10) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0120] Differentiating the right side of the second constraint relationship with respect to the included angle yields the fourth derivative, which is expressed by the following formula (11): (11) in, Indicates the length of the third link. This indicates the angle between the first link and the second link.

[0121] An equation is established to make the third derivative result equal to the fourth derivative result. This equation can be expressed by the following formula (12): (12) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link. Indicates the length of the second link. This indicates the length of the line.

[0122] Extract the derivative of the rotation angle with respect to the included angle in the equation to obtain the expression for the second derivative, which can be expressed by the following formula (13): (13) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0123] In step 1033, the first derivative expression and the second derivative expression are integrated to obtain the third derivative expression of the length of the linear motor with respect to the rotation angle.

[0124] Since the first derivative expression is the expression for the length of the linear motor with respect to the included angle, and the second derivative expression is the expression for the rotation angle with respect to the included angle, integrating the first and second derivative expressions, the third derivative expression for the length of the linear motor with respect to the rotation angle can be obtained as follows: multiply the derivatives of the first and second derivative expressions to obtain the third derivative expression for the length of the linear motor with respect to the rotation angle.

[0125] For example, taking the first derivative expression as formula (9) and the second derivative expression as formula (13), multiplying the reciprocals of the first and second derivative expressions yields the third derivative expression of the linear motor's length with respect to the rotation angle. The third derivative expression can be represented by the following formula (14):

[0126] (14) in, Indicates the length of the linear motor. Indicates the length of the first link. and Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. and Indicates the length of the connecting line. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0127] In step 1034, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is determined according to the third derivative expression.

[0128] In the embodiments of this application, a mathematical connection between the first and second constraint relationships is established at the derivative level by differentiating the first and second constraint relationships. Furthermore, by integrating the first and second derivative expressions, the first and second constraint relationships are substantially connected, thus cleverly eliminating the intermediate variable of the included angle at the derivative level. This approach directly establishes a third derivative expression for the length change of the linear motor with respect to the rotation angle change, overcoming the obstacle of intermediate variables to direct solution. Ultimately, based on this third derivative expression, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is accurately established, realizing the transition from linear drive to rotary output.

[0129] In some embodiments, Figure 8 This is a schematic diagram of the sixth process of the robot dynamics control method provided in the embodiments of this application. See also: Figure 8 , Figure 4 Step 1034 shown can be implemented through steps 10341 to 10342, which are explained in detail below.

[0130] In step 10341, the reciprocal operation is performed on the third derivative expression, and the result is used as the Jacobian matrix.

[0131] Here, the Jacobian matrix refers to the first derivative of the rotation angle of the rotary joint with respect to the length of the linear motor, which can be expressed as... It indicates. Among them, Indicates the rotation angle. This indicates the length of the linear motor.

[0132] For example, taking the expression of the third derivative as formula (14) as an example, the Jacobian matrix is ​​obtained, which can be expressed by the following formula (15): (15) Where J represents the Jacobian matrix, Indicates the length of the linear motor. Indicates the length of the first link. and Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. and Indicates the length of the connecting line. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0133] In step 10342, based on the principle that the instantaneous power of the linear motor thrust is equal to the instantaneous power of the rotary joint torque, a transformation relationship is established using the Jacobian matrix. The transformation relationship is characterized as the linear motor thrust being equal to the product of the Jacobian matrix and the rotary joint torque.

[0134] In some embodiments, the transformation relationship can be expressed by the following formula (16): (16) in, This indicates the thrust of the linear motor. This represents the torque of a rotary joint. This represents the Jacobian matrix.

[0135] It's easy to understand that when the linear motor's output is thrust, the value of F is positive; when the linear motor's output is pull, ... The value is negative.

[0136] In some embodiments, based on the principle that the instantaneous power generated by the thrust of the linear motor is equal to the instantaneous power generated by the torque of the rotary joint, a transformation relationship can be established using the Jacobian matrix. This can be achieved in the following way: establishing an expression for the instantaneous power generated by the thrust of the linear motor; establishing an expression for the instantaneous power generated by the torque of the rotary joint; establishing an equation that makes the expressions for the instantaneous power generated by the thrust of the linear motor and the instantaneous power generated by the torque of the rotary joint equal; and analyzing this equation to obtain the transformation relationship.

[0137] In the embodiments of this application, the reciprocal of the third derivative expression characterizing the change of linear motor length with rotation angle is performed to construct a Jacobian matrix specifically used to map the instantaneous kinematic transmission relationship between the linear extension motion of the linear motor and the rotational motion of the rotary joint. Furthermore, the physical principle of equal instantaneous power is introduced, and the Jacobian matrix is ​​used as a mapping relationship between motion space and force space, directly relating the dynamic parameters of linear and rotational motion. This approach effectively avoids the tedious decomposition of complex constraints within closed-loop structures in traditional mechanical analysis, fully utilizing the linearization calculation advantages of the Jacobian matrix and the physical rigor of the power balance principle. This achieves rapid conversion from kinematic parameters to dynamic parameters, accurately constructing the energy conservation law-compliant conversion relationship between the thrust of the linear motor and the torque of the rotary joint.

[0138] In step 104, the real-time thrust of the linear motor is converted into a real-time torque acting on the rotary joint according to the conversion relationship, and the robot is controlled according to the real-time torque.

[0139] In the embodiments of this application, a direct mapping between the size of the drive unit and the internal geometric transmission angle of the closed chain structure is established by determining the first constraint relationship between the length of the linear motor and the included angle of adjacent links in the closed chain structure based on the linear motor and the closed chain structure. By determining the second constraint relationship between the included angle of adjacent links and the rotation angle in the closed chain structure, a transmission path from the change of transmission state of the closed chain structure to the output torque of the joint is established. Furthermore, by combining the first and second constraint relationships for solution, the intermediate geometric variables (i.e., the included angle of adjacent links in the closed chain structure) are cleverly eliminated. The geometric constraints of the length and angle of the linear motor and the dynamic mapping of the angle and torque are transformed into a direct coupling relationship between the length variable of the linear motor and the torque variable of the rotary joint. This clarifies the contribution mechanism of the linear motor thrust to the torque of the rotary joint, and realizes the accurate generation of the required rotary joint torque by directly controlling the thrust of the linear motor, which significantly improves the control accuracy and response speed of the robot in complex dynamic environments.

[0140] In some embodiments, controlling the robot based on real-time torque can be achieved by: acquiring the target torque of the robot and calculating the torque deviation value between the target torque command and the real-time torque; adjusting the control current input to the linear motor based on the torque deviation value until the real-time torque and the target torque tend to be consistent, thereby realizing joint torque control of the robot.

[0141] The following will describe an exemplary application of the embodiments of this application in a real-world application scenario.

[0142] With the deepening integration of robotics and artificial intelligence, the ability of humanoid robots to operate in complex environments is receiving increasing attention. Among these, the hip and knee joints, as the core hubs connecting the torso and lower limbs of a humanoid robot, bear the crucial tasks of supporting the body, transmitting power, and maintaining balance. To achieve agile walking, jumping, and rapid recovery from disturbances in humanoid robots, not only is a unique drive structure design required, but also extremely high demands are placed on the motion control of the joints. Therefore, how to construct an efficient drive model and, based on this model, achieve real-time and precise dynamic control of the hip and knee joints of humanoid robots has become a key requirement in the field of robot control.

[0143] In related technologies, for the driving and control of the hip and knee joints of humanoid robots, the industry typically adopts traditional rotary motor drive solutions, or attempts to introduce linear motors in conjunction with traditional general-purpose mechanical calculation methods. However, in actual high-dynamic motion control scenarios, the above solutions expose several key problems, mainly reflected in the following aspects. (1) Traditional rotary drive schemes are slow and inefficient: Most existing humanoid robots use a "rotary motor + reducer" drive method for their hip and knee joints. This structure is usually bulky and heavy, which increases the inertia of the robot's legs and is not conducive to rapid movement. At the same time, although the introduction of high reduction ratio reducers increases torque, it also brings problems such as low transmission efficiency and large mechanical backlash, resulting in slow dynamic response speed of the joints, which makes it difficult to meet the needs of humanoid robots to complete high burst actions (such as jumping) or high-frequency compliant control.

[0144] (2) The strong nonlinearity of the closed-loop structure makes model construction difficult: In order to overcome the shortcomings of rotary motors, linear motor driven closed-loop (parallel or series-parallel hybrid) mechanisms have been gradually introduced due to their advantages such as small inertia and large direct driving force. However, the closed-loop structure driven by linear motors has complex geometric constraints, strong coupling between links, and extremely high nonlinear characteristics. This makes it difficult to decouple as easily as with serial robotic arms when constructing the dynamic model. The model construction is extremely complex, often requiring complex parameter identification, and is prone to introducing model errors.

[0145] (3) Traditional solution methods involve large computational loads and cannot meet real-time control requirements: In the dynamic solution of linear motor driven closed-loop structures, existing technologies mostly adopt the Lagrange equation method or the Newton-Euler method. These general methods usually involve solving a large number of differential equations and complex matrix iteration operations, resulting in extremely large computational loads. In humanoid robots that need to perform high-frequency control loops at the millisecond or even microsecond level, the above methods are too time-consuming, resulting in serious computational delays in the control system, making it difficult to meet the real-time requirements of dynamic solution, which can easily lead to control instability or oscillations, thus limiting the dynamic performance of the robot.

[0146] In view of this, the embodiments of this application provide a dynamic control method for a robot, which establishes a direct conversion relationship between linear motor thrust and rotary joint torque through analytical geometry. This avoids tedious iterative calculations while ensuring the accuracy of the calculation, thereby greatly reducing the computational load and realizing high-frequency, real-time dynamic control of the hip and knee joints of a humanoid robot, effectively improving the robot's motion stability and dynamic response capability.

[0147] See Figure 9 and Figure 10 , Figure 9 This is a schematic diagram of the seventh process of the robot dynamics control method provided in the embodiments of this application. Figure 10 This is a kinematic model of the hip and knee joints of the robot provided in the embodiments of this application. Figure 10 The diagram shows the robot's hip joint structure, which includes a linear motor and a closed-loop structure, and the robot's knee joint structure, which also includes a linear motor and a closed-loop structure. The following will combine... Figure 9 The steps shown illustrate the specific implementation process of the robot dynamics control method provided in the embodiments of this application.

[0148] In step 201, the relationship between the length of the linear motor and the included angle between the first link and the second link is established.

[0149] Figure 11 This is a schematic diagram of the hip joint structure provided in an embodiment of this application, as shown below. Figure 11 As shown, ABCD represents the closed-loop structure of the hip joint, and CE represents the linear motor. AB is the first link of the closed-loop structure, BC is the second link, CD is the third link, and DA is the fourth link. Point E of the linear motor is fixedly connected to the robot's thigh structure, and the first link AB of the closed-loop structure is fixedly connected to the robot's thigh structure.

[0150] Let the length of the linear motor be... , BAD= , C= .

[0151] Since point E of the linear motor is fixedly connected to the robot's thigh structure and the first link AB of the closed chain structure is fixedly connected to the robot's thigh structure, it can be known that triangle ABE is fixed. Using the law of cosines, the expression for the angle between the first link and the connecting line in triangle ABE is obtained. The expression is represented by the following formula (4): (4) in, Let be the angle between the first link and the connecting line. The length of the first link. The length of the line. The length of the first connection.

[0152] Using the law of cosines, we can obtain the relationship between CE (the length of the linear motor) and triangle BCE. The relationship between (i.e., the angle between the second link and the connecting line) is expressed by the following formula (2): (2) in, Indicates the length of the linear motor. Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the first link. This indicates the angle between the first link and the second link. This represents the cosine of the angle between the connecting line and the second link.

[0153] use , and angular relationship ( The relationship between the length of the linear motor and the included angle between the first link and the second link is obtained, and the relationship is expressed by the following formula (3): (3) in, Indicates the length of the linear motor. Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the first link. This indicates the angle between the first link and the second link. This represents the cosine of the angle between the connecting line and the second link.

[0154] In step 202, the relationship between the rotation angle and the included angle between the first link and the second link is established.

[0155] Observe the closed chain structure ABCD. It is known that the first link AB, the second link BC, the third link CD, and the fourth link DA are all known constants. Figure 12 This is a coordinate system diagram of the hip joint structure provided in an embodiment of this application. For example... Figure 12 As shown, a two-dimensional coordinate system is established with the rotary joint A as the origin, AB as the positive X-axis, and the direction perpendicular to AB and closer to CD as the positive Y-axis, so that the Y-axis coordinates of A, B, C, D, and E are all positive.

[0156] Let the length of the first link AB be The length of the second link BC is The length of the third link CD is The length of the fourth link DA is The length of the line BE is .

[0157] Based on the coordinate system, fourth link DA, first link AB as well as The relationship between the points determines the coordinates of point C in the third link. The coordinates of point D are .

[0158] Substituting the coordinates of point C and point D into the distance formula between the two points, we get... After combining like terms, the relationship between the rotation angle and the included angle between the first link and the second link is obtained, which can be expressed by the following formula (5): (5) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0159] In step 203, the Jacobian relation is established.

[0160] For the left side of equation (3) Taking the derivative, we obtain the first derivative result, which is expressed by the following formula (6): (6) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link.

[0161] For the right side of equation (3) Taking the derivative, we obtain the second derivative result, which is expressed by the following formula (7): (7) in, Indicates the length of the second link. Indicates the length of the connecting line. This indicates the angle between the connecting line and the first link. This indicates the angle between the first link and the second link. This represents the sine value of the angle between the connecting line and the second link.

[0162] An equation is established to make the first derivative result equal to the second derivative result. This equation can be expressed by the following formula (8): (8) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link. Indicates the length of the second link. Indicates the length of the connecting line. This represents the sine value of the angle between the connecting line and the second link.

[0163] Extract the derivative of the linear motor with respect to the included angle in the equation to obtain the first derivative expression, which can be expressed by the following formula (9): (9) in, Indicates the length of the linear motor. This indicates the angle between the first link and the second link. Indicates the length of the second link. Indicates the length of the connecting line. This represents the sine value of the angle between the connecting line and the second link.

[0164] For the left side of equation (5) Taking the derivative, we obtain the third derivative result, which is expressed by the following formula (10):

[0165] (10) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0166] For the right side of equation (5) Taking the derivative, we obtain the fourth derivative result, which is expressed by the following formula (11): (11) in, Indicates the length of the third link. This indicates the angle between the first link and the second link.

[0167] An equation is established to make the third derivative result equal to the fourth derivative result. This equation can be expressed by the following formula (12): (12) in, Indicates the length of the first link. Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. Indicates the rotation angle. This indicates the angle between the first link and the second link. Indicates the length of the second link. This indicates the length of the line.

[0168] Extracting from the equation right The derivative of the derivative is used to obtain the expression for the second derivative, which can be expressed by the following formula (13): (13) in, Indicates the length of the linear motor. Indicates the length of the first link. and Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. and Indicates the length of the connecting line. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0169] Multiplying the reciprocals of formula (9) and formula (13) together, we obtain the Jacobian relation, which is expressed by the following formula (14):

[0170] (14) in, Indicates the length of the linear motor. Indicates the length of the first link. and Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. and Indicates the length of the connecting line. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0171] In step 204, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is established.

[0172] Taking the reciprocal of the Jacobian relation yields the Jacobian matrix, which is expressed by the following formula (15): (15) Where J represents the Jacobian matrix, Indicates the length of the linear motor. Indicates the length of the first link. and Indicates the length of the second link. Indicates the length of the third link. Indicates the length of the fourth link. and Indicates the length of the connecting line. Indicates the rotation angle. This indicates the angle between the first link and the second link.

[0173] After obtaining the Jacobian matrix, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint can be obtained. The conversion relationship is expressed by the following formula (16): (16) This indicates the thrust of the linear motor. This represents the torque of a rotary joint. This represents the Jacobian matrix.

[0174] In step 205, the robot is controlled by utilizing the conversion relationship between the thrust of the linear motor and the torque of the rotary joint.

[0175] Using the six-dimensional force data of the sole as an external force applied to the ankle joint, the joint torque of the knee and hip joints under external force and gravity is calculated by applying inverse dynamics and compared with the real-time torque obtained by substituting the linear thrust into formula (16). Figure 13 The results are simulation verification results of hip joint kinematics provided in the embodiments of this application. The dashed line is the calculated data of real-time torque obtained by substituting the linear thrust into formula (16), and the solid line is the inverse kinematics result calculated by the Pinocchio algorithm library. Figure 14 The results are knee joint kinematics simulation verification results provided in this application embodiment. The dashed line represents the calculated real-time torque data obtained by substituting the linear thrust into formula (16), and the solid line represents the inverse kinematics results calculated using the Pinocchio algorithm library. For example... Figure 13 and Figure 14 As shown, it was found that the calculated real-time torque data obtained by substituting the linear thrust into formula (16) is basically consistent with the trend and torque values ​​of the inverse kinematics results calculated by the Pinocchio algorithm library for the hip and knee joints.

[0176] After verification, the real-time thrust of the linear motor is substituted into formula (16) to obtain the real-time torque, and the real-time torque is used to control the hip and knee joints of the robot.

[0177] The robot dynamics control method provided in this application has the following beneficial effects: (1) Enhancing Joint Dynamic Response and Explosive Force: This application embodiment, through precise calculation of the closed-loop structure driven by the linear motor, can fully leverage the physical advantages of the linear motor, such as high force density, low moment of inertia, and direct drive. Compared to the "rotary motor + reducer" drive scheme in related technologies, this application can eliminate the mechanical backlash and friction loss caused by the high reduction ratio, and reduce the moment of inertia of the legs. This enables the robot's hip and knee joints to obtain faster torque response speed and higher control bandwidth when facing high-explosive movements such as jumping and landing cushioning, thereby significantly improving the humanoid robot's motion agility and balance maintenance ability.

[0178] (2) Reducing the difficulty of model construction and parameter identification: The embodiments of this application abandon the traditional path of complex modeling of system energy or overall force using the Lagrange method or Newton-Euler method in related technologies, and innovatively adopt an analytical method based on geometric constraints. By establishing a local coordinate system and using the derivative relationships of geometric parameters such as link length and included angle, the Jacobian matrix is ​​directly derived. This method avoids the tedious analysis and identification of complex internal forces, friction forces and coupling terms inside the closed chain structure, and transforms the highly nonlinear closed chain structure into clear geometric numerical relationships, effectively solving the problems of difficult closed chain structure model construction and easy introduction of modeling errors in related technologies.

[0179] (3) Improving computational efficiency to meet real-time control requirements: In this application, the Jacobian matrix is ​​used to transform complex nonlinear motion mapping into linear transfer coefficients. Based on the principle of energy conservation with equal instantaneous power, the conversion from linear motor thrust to rotary joint torque can be completed through simple algebraic operations (such as reciprocals and products). Compared with the general computational methods in related technologies that involve solving a large number of differential equations and matrix iteration operations, the computational load of this application is reduced by an order of magnitude. It can quickly complete the dynamics calculation within the control cycle of milliseconds or even microseconds, eliminating the risk of control lag caused by computational delay, and providing core algorithm support for realizing high-frequency, high-precision real-time closed-loop control of robots.

[0180] In summary, the embodiments of this application, by constructing a dynamic solution framework of "geometric analysis - derivative transformation - power mapping," not only solve the physical limitations of traditional rotational drive schemes, such as large inertia and slow response, but more importantly, establish a new closed-loop dynamic control paradigm characterized by "lightweight computation and precise modeling." This paradigm avoids cumbersome physical modeling while ensuring solution accuracy through the determinism of geometric relationships and freeing up the controller's computational resources through the efficiency of algebraic operations. This fundamentally promotes the transformation of humanoid robot hip and knee joint drive technology from the traditional approach relying on high computing power and general-purpose models to a specialized, real-time, and high-performance modern control method.

[0181] The following description continues to illustrate the exemplary structure of the robot dynamics control device 555 provided in the embodiments of this application as a software module. In some embodiments, such as... Figure 2 As shown, the software modules stored in the robot's dynamic control device 555 in the memory 550 may include: The constraint relationship determination module 5551 is used to determine the first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure based on the linear motor and the closed chain structure; and to determine the second constraint relationship between the included angle between adjacent links and the rotation angle in the closed chain structure based on multiple links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint. The conversion relationship determination module 5552 is used to solve the conversion relationship between the thrust of the linear motor and the torque of the rotary joint by combining the first constraint relationship and the second constraint relationship; The dynamics control module 5553 is used to convert the real-time thrust of the linear motor into a real-time torque acting on the rotary joint according to the conversion relationship, and to control the robot according to the real-time torque.

[0182] In some embodiments, the conversion relationship determination module 5553 is further configured to differentiate the first constraint relationship to obtain a first derivative expression of the length of the linear motor with respect to the included angle; differentiate the second constraint relationship to obtain a second derivative expression of the rotation angle with respect to the included angle; integrate the first and second derivative expressions to obtain a third derivative expression of the length of the linear motor with respect to the rotation angle; and determine the conversion relationship between the thrust of the linear motor and the torque of the rotary joint based on the third derivative expression.

[0183] In some embodiments, the transformation relationship determination module 5553 is further configured to perform a reciprocal operation on the third derivative expression and use the result as the Jacobian matrix; based on the principle that the instantaneous power of the linear motor thrust is equal to the instantaneous power of the rotary joint torque, the transformation relationship is established using the Jacobian matrix, wherein the transformation relationship is characterized as the linear motor thrust being equal to the product of the Jacobian matrix and the rotary joint torque.

[0184] In some embodiments, the constraint relationship determination module 5551 is further configured to determine the line connecting the first end of the linear motor and the second end of the second link, wherein the first end is the end of the linear motor away from the second link, and the second end is the end of the second link away from the linear motor; and to determine the first constraint relationship using the geometric relationship of the line, the linear motor, the first link, and the second link.

[0185] In some embodiments, the constraint relationship determination module 5551 is further configured to: utilize the geometric relationship of the first link, the second link, and the connecting line to obtain the angle between the connecting line and the second link, which is equal to the angle between the first link and the connecting line minus the angle between the first link and the second link; utilize the geometric relationship of the connecting line, the second link, and the linear motor to determine a third constraint relationship, the third constraint relationship including: the square of the length of the connecting line is equal to the sum of the square of the length of the linear motor and the square of the length of the second link, minus twice the product of the length of the linear motor, the length of the second link, and the cosine of the angle between the connecting line and the second link; subtract the angle between the first link and the second link from the angle between the first link and the connecting line, and replace the angle between the connecting line and the second link in the third constraint relationship to obtain the first constraint relationship.

[0186] In some embodiments, the constraint relationship determination module 5551 is further configured to establish a coordinate system with the rotary joint as the origin; determine the first coordinate of the end of the third link connected to the second link in the coordinate system, and the second coordinate of the end of the third link connected to the fourth link in the coordinate system; calculate the length of the third link using the first and second coordinates to obtain the length expression of the third link; and parse the length expression to obtain the second constraint relationship of the included angle and the rotation angle.

[0187] This application provides a computer program product, which includes a computer program or computer-executable instructions stored in a computer-readable storage medium. The processor of an electronic device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, causing the electronic device to perform the robot dynamics control method described above in this application.

[0188] This application provides a computer-readable storage medium storing computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, the processor will execute the robot dynamics control method provided in this application. For example, ... Figure 3 The robot's dynamic control method is shown.

[0189] In some embodiments, the computer-readable storage medium may be a memory such as RAM, ROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0190] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0191] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0192] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located in one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0193] In summary, this application first establishes a local coordinate system centered on the rotary joint, constructs precise geometric constraint equations using the geometric features of the closed-chain structure (such as link length and connection angle), and derives the Jacobian matrix representing the instantaneous transmission relationship between linear and rotational motions through differentiation of these equations. Furthermore, it abandons the cumbersome solution of differential equations and complex internal force analysis in traditional Lagrange or Newton-Euler methods, directly constructing a linear mapping model from the joint target torque to the motor's thrust based on the physical principle of equal instantaneous power using the Jacobian matrix. This solution method ensures the theoretical accuracy of the dynamic model while simplifying complex high-dimensional nonlinear calculations into low-computational-power algebraic operations, greatly improving the real-time performance and response speed of the dynamic solution. This enables the robot's underlying controller to refresh torque commands at extremely high frequencies, ultimately achieving precise force control and steady-state maintenance for the robot in the face of highly dynamic motion.

[0194] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A method for dynamic control of a robot, characterized in that, The robot includes rotary joints, linear motors, and a closed-loop structure; the method includes: Based on the linear motor and the closed-chain structure, a first constraint relationship is determined between the length of the linear motor and the included angle between adjacent links in the closed-chain structure. Based on the multiple links in the closed chain structure, a second constraint relationship is determined between the included angle and the rotation angle of adjacent links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint; By combining the first constraint relationship and the second constraint relationship, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is obtained; According to the conversion relationship, the real-time thrust of the linear motor is converted into a real-time torque acting on the rotary joint, and the robot is controlled according to the real-time torque.

2. The method according to claim 1, characterized in that, The process of solving by combining the first constraint relationship and the second constraint relationship to obtain the conversion relationship between the thrust of the linear motor and the torque of the rotary joint includes: By differentiating the first constraint relationship, we obtain the first derivative expression of the length of the linear motor with respect to the included angle. Differentiating the second constraint relationship yields the second derivative expression of the rotation angle with respect to the included angle. By integrating the first derivative expression and the second derivative expression, a third derivative expression for the length of the linear motor with respect to the rotation angle is obtained; Based on the third derivative expression, the conversion relationship between the thrust of the linear motor and the torque of the rotary joint is determined.

3. The method according to claim 2, characterized in that, The step of determining the conversion relationship between the thrust of the linear motor and the torque of the rotary joint based on the third derivative expression includes: Perform the reciprocal operation on the third derivative expression and use the result as the Jacobian matrix; Based on the principle that the instantaneous power generated by the thrust of the linear motor is equal to the instantaneous power generated by the torque of the rotary joint, the transformation relationship is established using the Jacobian matrix, wherein the transformation relationship is characterized by the fact that the thrust of the linear motor is equal to the product of the Jacobian matrix and the torque of the rotary joint.

4. The method according to claim 1, characterized in that, The closed-loop structure includes a first link and a second link. One end of the first link is connected to one end of the second link, and the other end of the first link is connected to the rotary joint. The other end of the second link is connected to the linear motor. The included angle between adjacent links in the closed-loop structure is the included angle between the first link and the second link. Determining the first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed-loop structure based on the linear motor and the closed-loop structure includes: Determine the line connecting the first end of the linear motor and the second end of the second connecting rod, wherein the first end is the end of the linear motor away from the second connecting rod, and the second end is the end of the second connecting rod away from the linear motor; The first constraint relationship is determined using the geometric relationships of the connecting lines, the linear motor, the first link, and the second link.

5. The method according to claim 4, characterized in that, Determining the first constraint relationship using the geometric relationships of the connecting lines, the linear motor, the first link, and the second link includes: Using the geometric relationship between the first link, the second link, and the connecting line, the angle between the connecting line and the second link is obtained, which is equal to the angle between the first link and the connecting line minus the angle between the first link and the second link. Using the geometric relationship between the connecting line, the second connecting rod, and the linear motor, the third constraint relationship is determined. The third constraint relationship includes: the square of the length of the connecting line is equal to the sum of the square of the length of the linear motor and the square of the length of the second connecting rod, minus twice the product of the length of the linear motor, the length of the second connecting rod, and the cosine of the angle between the connecting line and the second connecting rod. Subtract the angle between the first link and the connecting line from the angle between the first link and the second link, and replace the angle between the connecting line and the second link in the third constraint relationship to obtain the first constraint relationship.

6. The method according to claim 4, characterized in that, The closed-loop structure further includes a third link and a fourth link. One end of the third link is connected to the end of the second link connected to the linear motor, and the other end of the third link is connected to one end of the fourth link. The other end of the fourth link is connected to the rotary joint. Determining the second constraint relationship between the included angle and rotation angle of adjacent links in the closed-loop structure based on the multiple links in the closed-loop structure includes: Establish a coordinate system with the rotary joint as the origin; Determine the first coordinate in the coordinate system of the end of the third link that connects to the second link, and the second coordinate in the coordinate system of the end of the third link that connects to the fourth link; The length of the third link is calculated using the first and second coordinates to obtain the expression for the length of the third link; The length expression is analyzed to obtain the second constraint relationship between the included angle and the rotation angle.

7. A dynamic control device for a robot, characterized in that, The robot includes a rotary joint, a linear motor, and a closed-loop structure; the device includes: The constraint relationship determination module is used to determine a first constraint relationship between the length of the linear motor and the included angle between adjacent links in the closed chain structure, based on the linear motor and the closed chain structure; and to determine a second constraint relationship between the included angle between adjacent links and the rotation angle in the closed chain structure, based on multiple links in the closed chain structure, wherein the rotation angle is the angle by which the linear motor drives the closed chain structure to rotate around the rotary joint. The conversion relationship determination module is used to solve the conversion relationship between the thrust of the linear motor and the torque of the rotary joint by combining the first constraint relationship and the second constraint relationship; The dynamics control module is used to convert the real-time thrust of the linear motor into a real-time torque acting on the rotary joint according to the conversion relationship, and to control the robot according to the real-time torque.

8. An electronic device, characterized in that, The electronic device includes: Memory is used to store executable instructions or computer programs. A processor, when executing computer-executable instructions or computer programs stored in the memory, implements the method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, they implement the method described in any one of claims 1 to 6.

10. A computer program product comprising computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, they implement the method according to any one of claims 1 to 6.

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