Robot control method, device and equipment and storage medium

Abstract

The invention relates to a robot control method and device, equipment and a storage medium. The method comprises the steps that in the process that a mechanical arm of the robot is dragged, a motor of the robot is controlled to output compensation torque; in response to the dragging stop signal, determining a delay control duration according to the current angular speed of the motor; carrying out variable damping control on the motor within the time delay control duration so as to reduce the current angular velocity; and after the delay control duration, the motor is turned off, so that the mechanical arm is recovered to the static state. By adopting the method, after the dragging stop signal is triggered, the mechanical arm can be controlled to quickly and stably recover to the static state.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot control method, apparatus, device, and storage medium. Background Technology

[0002] With the rapid development of intelligent manufacturing technology, robots, with their flexible movement and precise operation capabilities, have been widely and deeply applied in many fields such as industrial assembly, precision machining, and human-machine collaboration.

[0003] During actual operation of the robot, the operator can directly drag the end effector or linkage structure of the robotic arm to adjust the position and posture of each joint. During this dragging process, the robotic arm accumulates kinetic energy due to the movement.

[0004] Currently, the control system typically cancels the torque output to each joint motor the instant the operator stops dragging and releases the robotic arm. At this moment, the kinetic energy accumulated in the robotic arm is dissipated through uncontrolled friction and structural vibration. This uncontrolled energy dissipation easily triggers oscillations in the robotic arm, accompanied by significant position overshoot. Specifically, the robotic arm repeatedly swings near the target stopping position, unable to stabilize quickly. These oscillations and overshoot not only reduce the positioning accuracy of the robotic arm and affect the reliability of subsequent operations, but also exacerbate fatigue wear on the mechanical structure, shortening the robot's lifespan. Summary of the Invention

[0005] Therefore, it is necessary to provide a robot control method, device, equipment, and storage medium that can quickly and smoothly restore the robot's robotic arm to a stationary state, addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a robot control method, including:

[0007] During the process of the robot's robotic arm being dragged, the robot's motor is controlled to output a compensating torque;

[0008] In response to the drag stop signal, the delay control duration is determined based on the current angular velocity of the motor;

[0009] During the delay control period, the motor is subjected to variable damping control to reduce the current angular velocity;

[0010] After the specified delay period, the motor is turned off to allow the robotic arm to return to a stationary state.

[0011] In one embodiment, determining the delay control duration based on the current angular velocity of the motor includes:

[0012] Based on the current angular velocity and coefficient mapping relationship, the delay coefficient corresponding to the current angular velocity is determined; wherein, the coefficient mapping relationship includes delay coefficients corresponding to different angular velocities, and in the coefficient mapping relationship, the angular velocity and the delay coefficient are negatively correlated;

[0013] The delay control duration is determined based on the total delay duration and the determined delay coefficient; wherein the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

[0014] In one embodiment, determining the delay control duration based on the total delay duration and the determined delay coefficient includes:

[0015] The total delay time is determined based on the current angular velocity, angular velocity threshold, basic damping coefficient, and moment of inertia of the robotic arm; wherein, the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state;

[0016] The delay control duration is determined by multiplying the total delay duration by the determined delay coefficient.

[0017] In one embodiment, determining the total delay time based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm includes:

[0018] The average damping value is determined based on the basic damping coefficient and the current angular velocity;

[0019] Determine a first ratio between the current angular velocity and the angular velocity threshold;

[0020] Determine a second ratio between the moment of inertia of the robotic arm and the average damping value;

[0021] The total delay duration is determined based on the first ratio and the second ratio.

[0022] In one embodiment, the variable damping control of the motor to reduce the current angular velocity includes:

[0023] The damping coefficient is determined based on the real-time angular velocity and gain coefficient of the motor; wherein the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity is reduced.

[0024] Based on the damping coefficient and the real-time angular velocity, the motor is subjected to variable damping control to reduce the current angular velocity.

[0025] In one embodiment, the compensating torque includes a gravity compensating torque and a friction compensating torque; the step of controlling the robot's motor to output the compensating torque during the dragging of the robot's robotic arm includes:

[0026] During the process of the robot's robotic arm being dragged, the gravity compensation torque is determined based on the state parameters of each joint and link contained in the robotic arm;

[0027] The friction compensation torque is determined based on the angular velocity of each joint.

[0028] The robot's motor outputs the gravity compensation torque and the friction compensation torque.

[0029] In one embodiment, determining the friction compensation torque based on the angular velocity of each joint includes:

[0030] The first frictional force torque is determined based on the angular velocity, Coulomb friction coefficient, and viscous friction coefficient of each joint.

[0031] When the speed at which the robotic arm is dragged exceeds a speed threshold, a second frictional torque is determined based on the frequency and amplitude of a preset waveform signal; wherein, the preset waveform signal is used to make the joints of the robotic arm vibrate in a desired vibration state;

[0032] The friction compensation torque is determined based on the first friction sub-torque and the second friction sub-torque.

[0033] Secondly, this application also provides a robot control device, comprising:

[0034] The dragging module is used to control the output of the robot's motor to compensate for torque during the dragging of the robot's robotic arm;

[0035] A determination module is used to determine the delay control duration based on the current angular velocity of the motor in response to a drag stop signal;

[0036] An application module is used to perform variable damping control on the motor during the delay control period to reduce the current angular velocity;

[0037] The control module is used to shut down the motor after the specified delay control duration, so that the robotic arm returns to a stationary state.

[0038] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the various method embodiments provided in the first aspect above.

[0039] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the various method embodiments provided in the first aspect above.

[0040] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the various method embodiments provided in the first aspect above.

[0041] The aforementioned robot control method, device, equipment, and storage medium control the robot's motor to output compensating torque during the dragging process of the robot's robotic arm. This ensures that the robotic arm follows the operator's movements smoothly and easily, allowing the operator to flexibly and quickly adjust the position and posture of the robotic arm. Furthermore, in response to the dragging stop signal, a delay control duration is determined based on the motor's current angular velocity. During this delay control duration, variable damping control is applied to the motor to quickly dissipate the kinetic energy generated during the dragging of the robotic arm. After the delay control duration, the motor is directly shut off, allowing the robotic arm to quickly return to a stationary state. In this method, by applying variable damping control during the delay control duration instead of immediately canceling the compensating torque, the impact of canceling the torque on the robot structure can be avoided, which helps to improve the mechanical life. After the delay control duration, the kinetic energy of the robotic arm has been effectively dissipated. At this point, shutting off the motor and canceling the compensating torque will not cause excessive impact on the robot structure, and the robotic arm can quickly return to a stationary state, thus making the entire stopping process of the robotic arm fast and smooth. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a diagram illustrating the application environment of a robot control method in one embodiment;

[0044] Figure 2 This is a flowchart illustrating a robot control method in one embodiment;

[0045] Figure 3 This is a flowchart illustrating the steps for outputting the compensation torque in one embodiment;

[0046] Figure 4 This is a flowchart illustrating the steps for determining the friction compensation torque in one embodiment;

[0047] Figure 5 This is a flowchart illustrating the steps for determining the delay control duration in one embodiment;

[0048] Figure 6 This is a flowchart illustrating the variable damping control steps in one embodiment;

[0049] Figure 7 This is a flowchart illustrating the robot control method in another embodiment;

[0050] Figure 8 This is a structural block diagram of a robot control device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0053] The design concept of this application is briefly introduced below:

[0054] With the rapid development of intelligent manufacturing technology, robots, with their flexible movement and precise operation capabilities, have been widely and deeply applied in many fields such as industrial assembly, precision machining, and human-machine collaboration.

[0055] During actual operation of the robot, the operator can directly drag the end effector or linkage structure of the robotic arm to adjust the position and posture of each joint. During this dragging process, the robotic arm accumulates kinetic energy due to the movement.

[0056] Currently, the control system typically cancels the torque output to each joint motor the instant the operator stops dragging and releases the robotic arm. At this moment, the kinetic energy accumulated in the robotic arm is dissipated through uncontrolled friction and structural vibration. This uncontrolled energy dissipation easily triggers oscillations in the robotic arm, accompanied by significant position overshoot. Specifically, the robotic arm repeatedly swings near the target stopping position, unable to stabilize quickly. These oscillations and overshoot not only reduce the positioning accuracy of the robotic arm and affect the reliability of subsequent operations, but also exacerbate fatigue wear on the mechanical structure, shortening the robot's lifespan.

[0057] In view of this, a robot control method, device, equipment, and storage medium are proposed. During the dragging of the robot's robotic arm, the robot's motor outputs a compensating torque, ensuring the robotic arm follows the operator's movements smoothly and easily. This allows the operator to flexibly and quickly adjust the robotic arm's position and posture. Furthermore, in response to a dragging stop signal, a delay control duration is determined based on the motor's current angular velocity. Within this delay, variable damping control is applied to the motor to quickly dissipate the kinetic energy generated during dragging. After the delay, the motor is shut off, allowing the robotic arm to quickly return to a stationary state. In this method, by applying variable damping control within the delay duration instead of immediately canceling the compensating torque, the impact of canceling the torque on the robot structure is avoided, thus improving mechanical lifespan. After the delay, the robotic arm's kinetic energy is effectively dissipated, and canceling the compensating torque at this point does not cause excessive impact on the robot structure. Moreover, it allows the robotic arm to quickly return to a stationary state, resulting in a fast and smooth stopping process.

[0058] The robot control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the robot can be an industrial robot, service robot, special robot, humanoid robot, etc., without specific limitations. In this embodiment, the robot is mainly described as a surgical robot. The robot can include a controller, a memory, and a robotic arm. The memory is used to store relevant data for robot control. The robotic arm has a built-in motor. During the process of the robotic arm being dragged, the controller controls the motor to output a compensating torque. In response to the dragging stop signal, the controller determines the delay control duration based on the current angular velocity of the motor. During the delay control duration, the controller performs variable damping control on the motor to reduce the current angular velocity. After the delay control duration, the controller turns off the motor so that the robotic arm returns to a stationary state.

[0059] In one exemplary embodiment, such as Figure 2 As shown, a robot control method is provided, which can be applied to... Figure 1 The following explanation uses the controller in the example:

[0060] S201, during the process of the robot's robotic arm being dragged, the motor controlling the robot outputs a compensating torque.

[0061] Understandably, ideally, the operator should only feel the inertial force applied by the operator when dragging the robotic arm. However, the robot's own gravity (especially for large robotic arms) and friction in the joint transmission system are objectively present. If the robot control system's compensation method is inadequate, the presence of these forces will affect the operator's experience. Therefore, the robot's motors can be controlled to output compensating torque to counteract the robot's own gravity and friction, achieving zero-force dragging. In this way, the operator can apply a small force to a designated joint of the robot, causing that joint to follow the operator's hand movement, making the robot itself seem "without gravity" and "without friction," resulting in light and smooth movement. Optionally, the compensating torque output by the motors can include gravity compensation torque, friction compensation torque, or both; no specific limitations are made here.

[0062] S202, in response to the drag stop signal, determines the delay control duration based on the current angular velocity of the motor.

[0063] The drag-stop signal indicates that the operator has stopped dragging the robotic arm. Therefore, after the drag-stop signal is triggered, the robotic arm should quickly and smoothly return to a stationary state. Optionally, the drag-stop signal can be triggered by the operator clicking a button on the robot, by clicking an operation control displayed on the robot's external screen, or by the robot detecting that the dragging force is less than a preset threshold. No specific limitation is made here; the preset threshold can be set based on experience, multiple trials, and actual needs. It is understood that if the motor rotation stops immediately after the drag-stop signal is triggered, the kinetic energy generated by the robotic arm during dragging will be dissipated through uncontrolled friction and structural vibration, leading to oscillation and overshoot. Therefore, in this embodiment, a delay control duration is first determined in response to the drag-stop signal. The delay control duration refers to the time after which the motor rotation is delayed. In other words, the motor rotation will not be stopped directly within the delay control duration to avoid oscillation and overshoot. The duration of the delay control is determined based on the current angular velocity. Optionally, the higher the current angular velocity, the shorter the delay control duration, so as to ensure that the robotic arm can quickly return to a stationary state.

[0064] S203 performs variable damping control on the motor during the delay control period to reduce the current angular velocity.

[0065] In this system, the direction of the damping torque output by the variable damping control is opposite to the direction of the compensating torque output by the motor. This counteracts the motor's rotation and offsets the compensating torque, thereby consuming the kinetic energy of the robotic arm. Therefore, by implementing variable damping control on the motor, the current angular velocity can be reduced. The damping torque output by the variable damping control can vary with the current angular velocity. When the current angular velocity is high, the damping torque is also large to quickly consume kinetic energy and achieve motor braking. As the current angular velocity decreases, the damping torque also decreases, achieving smooth braking of the motor.

[0066] S204, after a delay control period, shuts off the motor to allow the robotic arm to return to a stationary state.

[0067] Understandably, although the damping torque output by the variable damping control decreases as the current angular velocity decreases, if the delay control time is long enough, the robotic arm can still be brought back to a stationary state through the variable damping control. However, in order to avoid the entire braking process being too long and affecting the operator's experience, the motor can be directly shut off after the delay control time, so that the motor stops outputting the compensation torque, thereby enabling the robotic arm to quickly return to a stationary state. For example, the power supply to the motor can be cut off to stop the motor's rotation.

[0068] In the above method, during the dragging of the robot's robotic arm, the robot's motor outputs a compensating torque. This ensures that the robotic arm follows the operator's movements smoothly and easily, allowing the operator to flexibly and quickly adjust the position and posture of the robotic arm. Furthermore, in response to the dragging stop signal, a delay control duration is determined based on the motor's current angular velocity. Within this delay, variable damping control is applied to the motor to quickly dissipate the kinetic energy generated during the dragging of the robotic arm. After the delay, the motor is directly shut off, allowing the robotic arm to quickly return to a stationary state. This method, by applying variable damping control within the delay duration instead of immediately canceling the compensating torque, avoids the impact of the canceled torque on the robot's structure, thus improving mechanical lifespan. After the delay, the robotic arm's kinetic energy is effectively dissipated. At this point, shutting off the motor and canceling the compensating torque does not cause excessive impact on the robot's structure and allows the robotic arm to quickly return to a stationary state, resulting in a fast and smooth stopping process for the robotic arm.

[0069] In one embodiment, such as Figure 3 As shown, the steps for outputting the compensation torque are further defined, including:

[0070] S301, during the process of the robot's robotic arm being dragged, the gravity compensation torque is determined based on the state parameters of each joint and link contained in the robotic arm.

[0071] Among them, the gravity compensation torque is used to compensate for the robot's own gravity in the vertical direction. The state parameters can include the joint angle, the mass of the link, the position of the center of mass, the inertia tensor, etc.

[0072] Optionally, an iterative Newton-Euler dynamics compensation algorithm is used to determine the gravity compensation. Based on the current angles of each joint and the robot's link model parameters (mass, center of mass position, inertia tensor), two iteration processes are executed sequentially: outward iteration and inward iteration. Outward iteration starts from the base (link 0), calculating the velocity and acceleration from each link to the next, considering gravitational acceleration. Inward iteration starts from the end effector (link n), calculating the required forces and torques for each joint based on the velocity and angular velocity of each link, including components needed to balance gravity, and finally outputting the gravity compensation torque τ. g =[τ1,τ2,…τ n ,], where τ n This represents the gravity compensation torque required for joint n.

[0073] S302, determine the friction compensation torque based on the angular velocity of each joint.

[0074] It is understandable that the movement of the robotic arm joints generates friction, and the friction compensation torque is used to counteract the friction generated in order to avoid the operator feeling resistance when dragging the robotic arm at a constant speed. Therefore, the friction compensation torque can be determined according to the angular velocity of the joint. If the angular velocity of the joint is high, the friction compensation torque should also be large.

[0075] S303 controls the output of the robot's motor to provide gravity compensation torque and friction compensation torque.

[0076] Specifically, the output of gravity compensation torque and friction compensation torque is achieved through the rotation of the motor.

[0077] In the above embodiments, during the process of the robot's robotic arm being dragged, the robot's motor outputs gravity compensation torque and friction compensation torque, which can counteract the robot's own gravity and the friction generated by the joint transmission system, thereby making the operator's dragging of the robot lighter and smoother, achieving zero-force dragging.

[0078] In one embodiment, such as Figure 4 As shown, the steps for determining the friction compensation torque are further refined, including:

[0079] S401, determine the first frictional torque based on the angular velocity, Coulomb friction coefficient and viscous friction coefficient of each joint.

[0080] Optionally, the first frictional force moment τ can be calculated using the Coulomb-viscosity model. fThe specific formula is as follows:

[0081] τ f =Fc*sign(q) dot )+ Fv*q dot

[0082] Where Fc is the Coulomb friction coefficient, Fv is the viscous friction coefficient, sign() is the sign function, and q dot ω represents the angular velocity of the joint.

[0083] S402, when the speed at which the robotic arm is dragged exceeds a speed threshold, the second friction force torque is determined based on the frequency and amplitude of a preset waveform signal.

[0084] The speed threshold can be set based on experience, multiple trials, and actual needs. The preset waveform signal is used to make the joints of the robotic arm vibrate in the desired vibration state. The preset waveform signal can be a sine wave signal, a cosine wave signal, etc., without specific limitations. It is understandable that when the robotic arm starts or moves at low speed, static friction may cause the operator to feel "stuck" or "sticky". Therefore, a high-frequency, low-amplitude sine wave signal can be injected into the control signal to keep the joint in a state of slight vibration, thereby "breaking" static friction and making the start-up process smoother.

[0085] Optionally, when the preset waveform signal is a sine wave signal, the torque τ of the second friction force element... d It can be determined using the following formula:

[0086] τ d =A*sin(2*n*f*t)

[0087] Where A is the amplitude of the sine wave signal, f is the frequency (usually much higher than the robot's motion bandwidth), n is a constant (which can be set according to actual needs), and t is time.

[0088] S403, determine the friction compensation torque based on the first friction force sub-torque and the second friction force sub-torque.

[0089] Optionally, the friction compensation torque is the sum of the first friction sub-torque and the second friction sub-torque. Furthermore, if the speed at which the robotic arm is dragged does not exceed a speed threshold, there is no need to calculate the second friction sub-torque; the first friction sub-torque can be directly used as the friction compensation torque.

[0090] In the above embodiments, by adopting a comprehensive scheme of Coulomb-viscous model combined with high-frequency micro-vibration supplementation, the friction compensation torque is determined, which can effectively counteract the friction generated during robot movement, making the operator more agile and smooth during dragging.

[0091] In one embodiment, such as Figure 5 As shown, the steps for determining the delay control duration in S202 are further refined, including:

[0092] S501, determine the delay coefficient corresponding to the current angular velocity based on the mapping relationship between the current angular velocity and the coefficient.

[0093] The coefficient mapping relationship includes delay coefficients corresponding to different angular velocities. In the coefficient mapping relationship, angular velocity and delay coefficient are negatively correlated. That is, as the angular velocity increases, the delay coefficient will decrease. For example, the coefficient mapping relationship includes: angular velocity of 0.1 radians (rad) / second (s) corresponds to a delay coefficient of 0.9, angular velocity of 0.2 rad / s corresponds to a delay coefficient of 0.8, and angular velocity of 0.3 rad / s / second corresponds to a delay coefficient of 0.7.

[0094] S502, determine the delay control duration based on the total delay duration and the determined delay coefficient.

[0095] The total delay time is the time required for the robotic arm to return to a stationary state by controlling the motor with variable damping. The total delay time can be set based on experience, multiple trials, and actual needs, or it can be determined based on the magnitude of the damping torque; no specific limitation is made here. Optionally, the product of the total delay time and the delay coefficient can be used as the total delay control time.

[0096] Optionally, a coefficient mapping relationship can be determined based on the robot's rated angular velocity ω0. The rated angular velocity is a specific parameter of the robot, and the specific value is set according to actual needs. For example, the coefficient mapping relationship includes: when the angular velocity < 0.2ω0, the corresponding delay coefficient is the first coefficient; when 0.2ω0 ≤ angular velocity < 0.5ω0, the corresponding delay coefficient is the second coefficient; and when the angular velocity ≥ 0.5ω0, the corresponding delay coefficient is the third coefficient. Among these, the first coefficient is greater than the second coefficient, and the second coefficient is greater than the third coefficient. In other words, when the angular velocity is low (angular velocity < 0.2ω0), a braking method close to natural stopping is adopted to ensure smoothness. For example, the first coefficient is 0.8, which means that 80% of the natural stopping time is retained, and the braking process is smooth. When the angular velocity is moderate (0.2ω0 ≤ angular velocity < 0.5ω0), the angular velocity is the typical working speed. The second coefficient is also moderately sparse between the first and second coefficients, which can balance the speed and comfort of braking, and take into account production efficiency and equipment life. When the angular velocity is high (angular velocity ≥ 0.5ω0), the kinetic energy of the robotic arm is large, and it is necessary to dissipate energy quickly to avoid mechanical overshoot. The need for emergency braking is more important than smoothness. Therefore, the delay control time is generally short through the third coefficient so as to achieve rapid braking as early as possible.

[0097] In the above embodiments, by setting a corresponding delay coefficient based on the magnitude of the current angular velocity, the determined delay control duration is related to the current angular velocity. This allows for the determination of braking the robot in conjunction with the current actual motion situation, making the braking process more consistent with the actual situation.

[0098] In one embodiment, the step of determining the delay control duration in S502 is further refined, including:

[0099] The total delay time is determined based on the current angular velocity, angular velocity threshold, basic damping coefficient, and moment of inertia of the robotic arm; the delay control time is determined by multiplying the total delay time by the determined delay coefficient.

[0100] The angular velocity threshold characterizes the motor's angular velocity when the robotic arm returns to a stationary state. For example, an angular velocity threshold of 0.001 rad / s means the robotic arm can return to a stationary state once the current angular velocity decreases to 0.001 rad / s. The base damping coefficient is an inherent property of the robot, determined by the characteristics of the mechanical structure and working medium, and is independent of angular velocity. For example, the base damping coefficient can be affected by the frictional damping of the robot's joint seals, the friction coefficient of the contact structure, the lubrication of the joint bearings, the armature resistance, inductance, and back electromotive force of the motor. Moment of inertia is also an inherent property of the robot and can be set according to actual needs. It can be understood that the current angular velocity and the angular velocity threshold represent the range of motor angular velocity changes during the robotic arm's return to a stationary state under damping torque conditions. The base damping coefficient affects the magnitude of the damping torque. Therefore, based on the current angular velocity, the angular velocity threshold, the base damping coefficient, and the robotic arm's moment of inertia, the time required for the robotic arm to return to a stationary state, i.e., the total delay time, can be determined.

[0101] In the above embodiments, the accuracy of the determined total delay time can be improved by using the current angular velocity, angular velocity threshold, basic damping coefficient and rotational inertia of the robotic arm. Then, the delay control time is determined based on the total delay time, so that the robotic arm can be quickly and smoothly controlled to return to a stationary state under the action of the delay control time.

[0102] In one embodiment, the step of determining the total delay duration is further refined, including:

[0103] Based on the base damping coefficient and the current angular velocity, determine the average damping value; determine the first ratio between the current angular velocity and the angular velocity threshold; determine the second ratio between the moment of inertia of the robotic arm and the average damping value; and determine the total delay time based on the first and second ratios.

[0104] Wherein, the average damping value is used to represent the average value of the damping coefficient during the variable damping control process within the time delay control period. Optionally, the average damping value B avg It can be determined by the following formula:

[0105]

[0106] Where B0 is the basic damping coefficient, K d ω is the damping gain coefficient, ω0 is the current angular velocity, ω s This is the angular velocity threshold. Because ω s Since it is close to zero, the above formula can also be approximated as:

[0107] B avg =B0+K d *(0.5ω0)

[0108] After determining the average damping value, the optional total delay time T n It can be determined by the following formula:

[0109]

[0110] Where J is the moment of inertia.

[0111] In the above embodiments, the average damping value is determined based on the basic damping coefficient and the current angular velocity. By combining the average damping value, the current angular velocity, the angular velocity threshold, and the moment of inertia, the accuracy of the total delay time can be improved.

[0112] In one embodiment, such as Figure 6 As shown, the steps for variable damping control are further detailed, including:

[0113] S601 determines the damping coefficient based on the motor's real-time angular velocity and gain coefficient.

[0114] Wherein, the real-time angular velocity is either the current angular velocity or the angular velocity after the current angular velocity has decreased. In variable damping control, the damping coefficient decreases as the real-time angular velocity decreases, and correspondingly, the damping torque also decreases as the real-time angular velocity decreases. In the initial state, the real-time angular velocity is the current angular velocity. After variable damping control is implemented, the current angular velocity decreases; therefore, the real-time angular velocity may also be the angular velocity after the current angular velocity has decreased. Optionally, the damping coefficient B(ω) can be determined by the following formula:

[0115] B(ω) = B0 + K d *|ω|

[0116] Where ω is the real-time angular velocity.

[0117] S602 performs variable damping control on the motor based on the damping coefficient and real-time angular velocity to reduce the current angular velocity.

[0118] Optionally, the damping torque is the product of the damping coefficient and the real-time angular velocity. The damping coefficient decreases as the real-time angular velocity decreases, and correspondingly, the damping torque also decreases as the real-time angular velocity decreases, i.e., the damping torque τ = -B(ω) * ω, where "-" indicates that the damping torque is in the opposite direction to the compensation torque output by the motor. Furthermore, the power (i.e., energy dissipation rate) generated by the damping torque is:

[0119]

[0120] Where E is the power done by the damping torque. As can be seen from the formula for the power done by the damping torque, since B(ω) increases with ω, the energy dissipates faster in the initial state when ω is high speed, thus enabling rapid deceleration.

[0121] In the above embodiments, the damping torque is determined based on the real-time angular velocity and gain coefficient of the motor. The damping torque changes with the real-time angular velocity, thereby causing the angular velocity to decrease rapidly from the initial state. After the angular velocity decreases, the damping torque also decreases, thus making the braking process smoother.

[0122] To illustrate the determination of the total delay duration T mentioned above n The accuracy of the formula is crucial for determining T. n The derivation process of the formula is introduced. Based on the above formula, the system equation during the braking process of the robotic arm is as follows:

[0123]

[0124] In B avg Approximately B0+K d Based on (0.5ω0), the above system equations can be approximated as:

[0125]

[0126] Separate variables:

[0127]

[0128] Integrating both sides:

[0129]

[0130] Equivalent to:

[0131]

[0132] That is:

[0133]

[0134] When ω=ω s When t=T n Then the above formula can be replaced with:

[0135]

[0136] The results were:

[0137]

[0138] Based on the above embodiments, in an exemplary embodiment, such as Figure 7 As shown, the robot control method in this application embodiment may include the following steps:

[0139] S701 determines the gravity compensation torque based on the state parameters of each joint and link in the robot arm during the dragging process.

[0140] S702, the first frictional force torque is determined based on the angular velocity, Coulomb friction coefficient and viscous friction coefficient of each joint.

[0141] S703, when the speed at which the robotic arm is dragged exceeds a speed threshold, determines the second friction force torque based on the frequency and amplitude of a preset waveform signal.

[0142] Among them, the preset waveform signal is used to make the joints of the robotic arm vibrate in the desired vibration state;

[0143] S704, determine the friction compensation torque based on the first friction force sub-torque and the second friction force sub-torque.

[0144] S705 controls the output of the robot's motors to provide gravity compensation torque and friction compensation torque.

[0145] S706, in response to the drag stop signal, determines the delay coefficient corresponding to the current angular velocity based on the mapping relationship between the current angular velocity and the coefficient.

[0146] The coefficient mapping relationship includes the delay coefficients corresponding to different angular velocities, and the angular velocity and the delay coefficient are negatively correlated in the coefficient mapping relationship;

[0147] S707: Determine the average damping value based on the basic damping coefficient and the current angular velocity; determine the first ratio between the current angular velocity and the angular velocity threshold; determine the second ratio between the moment of inertia of the robotic arm and the average damping value; and determine the total delay time based on the first and second ratios.

[0148] The angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state. The total delay time is the time required for the robotic arm to return to a stationary state by implementing variable damping control of the motor.

[0149] S708 determines the delay control duration based on the product of the total delay duration and the determined delay coefficient.

[0150] S709 determines the damping coefficient based on the real-time angular velocity and gain coefficient of the motor within the delay control period. Based on the damping coefficient and the real-time angular velocity, it performs variable damping control on the motor to reduce the current angular velocity.

[0151] The real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity has decreased.

[0152] S710 shuts off the motor after a delay control period to allow the robotic arm to return to a stationary state.

[0153] The specific implementation methods of S701-S710 are the same as those in the above method embodiments, and will not be repeated here.

[0154] In the above embodiments, the variable damping braking strategy based on real-time angular velocity can efficiently consume the kinetic energy of the system at different angular velocities. Combined with a reasonable delay braking time, the braking process is fast and shock-free, the stopping position is accurate without overshoot, and there is no low-frequency oscillation. This reduces the impact on the entire robot structure and helps to improve mechanical life. At the same time, the accurate positioning avoids accidental movement caused by unstable stopping.

[0155] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0156] Based on the same inventive concept, this application also provides a robot control device for implementing the robot control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot control device embodiments provided below can be found in the limitations of the robot control method described above, and will not be repeated here.

[0157] In one exemplary embodiment, such as Figure 8 As shown, a robot control device is provided, including: a dragging module 801, a determining module 802, an applying module 803, and a control module 804, wherein:

[0158] The drag module 801 is used to control the output compensation torque of the robot's motor during the dragging process of the robot's robotic arm;

[0159] The determination module 802 is used to determine the delay control duration based on the current angular velocity of the motor in response to the drag stop signal;

[0160] The application module 803 is used to perform variable damping control on the motor during the delay control period to reduce the current angular velocity;

[0161] The control module 804 is used to shut down the motor after a delay control period, so that the robotic arm returns to a stationary state.

[0162] In one embodiment, the determining module 802 includes:

[0163] The coefficient determination unit is used to determine the delay coefficient corresponding to the current angular velocity based on the current angular velocity and the coefficient mapping relationship; wherein, the coefficient mapping relationship includes the delay coefficients corresponding to different angular velocities, and the angular velocity and the delay coefficient are negatively correlated in the coefficient mapping relationship;

[0164] The duration determination unit is used to determine the delay control duration based on the total delay duration and the determined delay coefficient; wherein, the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

[0165] In one embodiment, the duration determination unit is specifically used for:

[0166] The total delay time is determined based on the current angular velocity, angular velocity threshold, basic damping coefficient, and moment of inertia of the robotic arm; whereby the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state.

[0167] The delay control duration is determined by multiplying the total delay duration by the determined delay coefficient.

[0168] In one embodiment, the duration determination unit is specifically used for:

[0169] Determine the average damping value based on the basic damping coefficient and the current angular velocity;

[0170] Determine the first ratio between the current angular velocity and the angular velocity threshold;

[0171] Determine the second ratio of the moment of inertia to the average damping value of the robotic arm;

[0172] The total delay duration is determined based on the first ratio and the second ratio.

[0173] In one embodiment, the application module 803 is specifically used for:

[0174] The damping coefficient is determined based on the motor's real-time angular velocity and gain coefficient; where the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity has decreased.

[0175] Based on the damping coefficient and real-time angular velocity, the motor is subjected to variable damping control to reduce the current angular velocity.

[0176] In one embodiment, the compensation torque includes gravity compensation torque and friction compensation torque; the drag module 801 includes:

[0177] The first determining unit is used to determine the gravity compensation torque based on the state parameters of each joint and link contained in the robotic arm during the process of the robot's robotic arm being dragged.

[0178] The second determining unit is used to determine the friction compensation torque based on the angular velocity of each joint;

[0179] The control unit is used to control the robot's motor output gravity compensation torque and friction compensation torque.

[0180] In one embodiment, the second determining unit is specifically used for:

[0181] The first frictional force torque is determined based on the angular velocity, Coulomb friction coefficient, and viscous friction coefficient of each joint.

[0182] When the speed at which the robotic arm is dragged exceeds a speed threshold, the second friction force torque is determined based on the frequency and amplitude of a preset waveform signal; wherein, the preset waveform signal is used to make the joints of the robotic arm vibrate in the desired vibration state;

[0183] The friction compensation torque is determined based on the first friction force sub-torque and the second friction force sub-torque.

[0184] Each module in the aforementioned robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0185] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to: control the output of a compensating torque of a robot's motor during the dragging of a robot's robotic arm; determine a delay control duration based on the current angular velocity of the motor in response to a dragging stop signal; perform variable damping control on the motor during the delay control duration to reduce the current angular velocity; and shut down the motor after the delay control duration has elapsed to allow the robotic arm to return to a stationary state.

[0186] In one embodiment, determining the delay control duration based on the current angular velocity of the motor includes: determining the delay coefficient corresponding to the current angular velocity based on the current angular velocity and the coefficient mapping relationship; wherein the coefficient mapping relationship includes delay coefficients corresponding to different angular velocities, and the angular velocity and the delay coefficient are negatively correlated in the coefficient mapping relationship; determining the delay control duration based on the total delay duration and the determined delay coefficient; wherein the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

[0187] In one embodiment, the delay control duration is determined based on the total delay duration and the determined delay coefficient, including: determining the total delay duration based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm; wherein the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state; and determining the delay control duration based on the product of the total delay duration and the determined delay coefficient.

[0188] In one embodiment, determining the total delay time based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm includes: determining the average damping value based on the basic damping coefficient and the current angular velocity; determining a first ratio of the current angular velocity to the angular velocity threshold; determining a second ratio of the moment of inertia of the robotic arm to the average damping value; and determining the total delay time based on the first ratio and the second ratio.

[0189] In one embodiment, variable damping control is applied to the motor to reduce the current angular velocity, including: determining a damping coefficient based on the real-time angular velocity of the motor and a gain coefficient; wherein the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity has been reduced; and applying variable damping control to the motor based on the damping coefficient and the real-time angular velocity to reduce the current angular velocity.

[0190] In one embodiment, the compensation torque includes gravity compensation torque and friction compensation torque; during the dragging of the robot's robotic arm, controlling the robot's motor to output compensation torque includes: determining gravity compensation torque based on the state parameters of each joint and link included in the robotic arm during the dragging process; determining friction compensation torque based on the angular velocity of each joint; and controlling the robot's motor to output gravity compensation torque and friction compensation torque.

[0191] In one embodiment, determining the friction compensation torque based on the angular velocity of each joint includes: determining a first friction sub-torque based on the angular velocity of each joint, the Coulomb coefficient of friction, and the viscous friction coefficient; determining a second friction sub-torque based on the frequency and amplitude of a preset waveform signal when the dragging speed of the robotic arm exceeds a speed threshold; wherein the preset waveform signal is used to make the joints of the robotic arm vibrate in a desired vibration state; and determining the friction compensation torque based on the first and second friction sub-torques.

[0192] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following: during the dragging of a robot's robotic arm, controlling the robot's motor to output a compensating torque; in response to a dragging stop signal, determining a delay control duration based on the current angular velocity of the motor; within the delay control duration, performing variable damping control on the motor to reduce the current angular velocity; and after the delay control duration has elapsed, shutting off the motor to allow the robotic arm to return to a stationary state.

[0193] In one embodiment, determining the delay control duration based on the current angular velocity of the motor includes: determining the delay coefficient corresponding to the current angular velocity based on the current angular velocity and the coefficient mapping relationship; wherein the coefficient mapping relationship includes delay coefficients corresponding to different angular velocities, and the angular velocity and the delay coefficient are negatively correlated in the coefficient mapping relationship; determining the delay control duration based on the total delay duration and the determined delay coefficient; wherein the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

[0194] In one embodiment, the delay control duration is determined based on the total delay duration and the determined delay coefficient, including: determining the total delay duration based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm; wherein the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state; and determining the delay control duration based on the product of the total delay duration and the determined delay coefficient.

[0195] In one embodiment, determining the total delay time based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm includes: determining the average damping value based on the basic damping coefficient and the current angular velocity; determining a first ratio of the current angular velocity to the angular velocity threshold; determining a second ratio of the moment of inertia of the robotic arm to the average damping value; and determining the total delay time based on the first ratio and the second ratio.

[0196] In one embodiment, variable damping control is applied to the motor to reduce the current angular velocity, including: determining a damping coefficient based on the real-time angular velocity of the motor and a gain coefficient; wherein the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity has been reduced; and applying variable damping control to the motor based on the damping coefficient and the real-time angular velocity to reduce the current angular velocity.

[0197] In one embodiment, the compensation torque includes gravity compensation torque and friction compensation torque; during the dragging of the robot's robotic arm, controlling the robot's motor to output compensation torque includes: determining gravity compensation torque based on the state parameters of each joint and link included in the robotic arm during the dragging process; determining friction compensation torque based on the angular velocity of each joint; and controlling the robot's motor to output gravity compensation torque and friction compensation torque.

[0198] In one embodiment, determining the friction compensation torque based on the angular velocity of each joint includes: determining a first friction sub-torque based on the angular velocity of each joint, the Coulomb coefficient of friction, and the viscous friction coefficient; determining a second friction sub-torque based on the frequency and amplitude of a preset waveform signal when the dragging speed of the robotic arm exceeds a speed threshold; wherein the preset waveform signal is used to make the joints of the robotic arm vibrate in a desired vibration state; and determining the friction compensation torque based on the first and second friction sub-torques.

[0199] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements: controlling the output of a compensating torque of the robot's motor during the dragging of the robot's robotic arm; determining a delay control duration based on the current angular velocity of the motor in response to a dragging stop signal; performing variable damping control on the motor during the delay control duration to reduce the current angular velocity; and shutting off the motor after the delay control duration has elapsed to allow the robotic arm to return to a stationary state.

[0200] In one embodiment, determining the delay control duration based on the current angular velocity of the motor includes: determining the delay coefficient corresponding to the current angular velocity based on the current angular velocity and the coefficient mapping relationship; wherein the coefficient mapping relationship includes delay coefficients corresponding to different angular velocities, and the angular velocity and the delay coefficient are negatively correlated in the coefficient mapping relationship; determining the delay control duration based on the total delay duration and the determined delay coefficient; wherein the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

[0201] In one embodiment, the delay control duration is determined based on the total delay duration and the determined delay coefficient, including: determining the total delay duration based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm; wherein the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state; and determining the delay control duration based on the product of the total delay duration and the determined delay coefficient.

[0202] In one embodiment, determining the total delay time based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm includes: determining the average damping value based on the basic damping coefficient and the current angular velocity; determining a first ratio of the current angular velocity to the angular velocity threshold; determining a second ratio of the moment of inertia of the robotic arm to the average damping value; and determining the total delay time based on the first ratio and the second ratio.

[0203] In one embodiment, variable damping control is applied to the motor to reduce the current angular velocity, including: determining a damping coefficient based on the real-time angular velocity of the motor and a gain coefficient; wherein the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity has been reduced; and applying variable damping control to the motor based on the damping coefficient and the real-time angular velocity to reduce the current angular velocity.

[0204] In one embodiment, the compensation torque includes gravity compensation torque and friction compensation torque; during the dragging of the robot's robotic arm, controlling the robot's motor to output compensation torque includes: determining gravity compensation torque based on the state parameters of each joint and link included in the robotic arm during the dragging process; determining friction compensation torque based on the angular velocity of each joint; and controlling the robot's motor to output gravity compensation torque and friction compensation torque.

[0205] In one embodiment, determining the friction compensation torque based on the angular velocity of each joint includes: determining a first friction sub-torque based on the angular velocity of each joint, the Coulomb coefficient of friction, and the viscous friction coefficient; determining a second friction sub-torque based on the frequency and amplitude of a preset waveform signal when the dragging speed of the robotic arm exceeds a speed threshold; wherein the preset waveform signal is used to make the joints of the robotic arm vibrate in a desired vibration state; and determining the friction compensation torque based on the first and second friction sub-torques.

[0206] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0207] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0208] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0209] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot control method, characterized in that, The method includes: During the process of the robot's robotic arm being dragged, the robot's motor is controlled to output a compensating torque; In response to the drag stop signal, the delay control duration is determined based on the current angular velocity of the motor; During the delay control period, the motor is subjected to variable damping control to reduce the current angular velocity; After the specified delay period, the motor is turned off to allow the robotic arm to return to a stationary state.

2. The method according to claim 1, characterized in that, Determining the delay control duration based on the current angular velocity of the motor includes: Based on the current angular velocity and coefficient mapping relationship, the delay coefficient corresponding to the current angular velocity is determined; wherein, the coefficient mapping relationship includes delay coefficients corresponding to different angular velocities, and in the coefficient mapping relationship, angular velocity and delay coefficient are negatively correlated; The delay control duration is determined based on the total delay duration and the determined delay coefficient; wherein the total delay duration is the time required for the robotic arm to return to a stationary state by performing variable damping control on the motor.

3. The method according to claim 2, characterized in that, The step of determining the delay control duration based on the total delay duration and the determined delay coefficient includes: The total delay time is determined based on the current angular velocity, angular velocity threshold, basic damping coefficient, and moment of inertia of the robotic arm; wherein, the angular velocity threshold is used to characterize the angular velocity of the motor when the robotic arm returns to a stationary state; The delay control duration is determined by multiplying the total delay duration by the determined delay coefficient.

4. The method according to claim 3, characterized in that, The step of determining the total delay time based on the current angular velocity, angular velocity threshold, basic damping coefficient, and the moment of inertia of the robotic arm includes: The average damping value is determined based on the basic damping coefficient and the current angular velocity; Determine a first ratio between the current angular velocity and the angular velocity threshold; Determine a second ratio between the moment of inertia of the robotic arm and the average damping value; The total delay duration is determined based on the first ratio and the second ratio.

5. The method according to any one of claims 1 to 4, characterized in that, The step of performing variable damping control on the motor to reduce the current angular velocity includes: The damping coefficient is determined based on the real-time angular velocity and gain coefficient of the motor; wherein the real-time angular velocity is the current angular velocity or the angular velocity after the current angular velocity is reduced. Based on the damping coefficient and the real-time angular velocity, the motor is subjected to variable damping control to reduce the current angular velocity.

6. The method according to any one of claims 1 to 4, characterized in that, The compensation torque includes gravity compensation torque and friction compensation torque; the step of controlling the robot's motor to output compensation torque during the dragging of the robot's robotic arm includes: During the process of the robot's robotic arm being dragged, the gravity compensation torque is determined based on the state parameters of each joint and link contained in the robotic arm; The friction compensation torque is determined based on the angular velocity of each joint. The robot's motor outputs the gravity compensation torque and the friction compensation torque.

7. The method according to claim 6, characterized in that, The step of determining the friction compensation torque based on the angular velocity of each joint includes: The first frictional force torque is determined based on the angular velocity, Coulomb friction coefficient, and viscous friction coefficient of each joint. When the speed at which the robotic arm is dragged exceeds a speed threshold, a second frictional torque is determined based on the frequency and amplitude of a preset waveform signal; wherein, the preset waveform signal is used to make the joints of the robotic arm vibrate in a desired vibration state; The friction compensation torque is determined based on the first friction sub-torque and the second friction sub-torque.

8. A robot control device, characterized in that, The device includes: The dragging module is used to control the output of the robot's motor to compensate for torque during the dragging of the robot's robotic arm; A determination module is used to determine the delay control duration based on the current angular velocity of the motor in response to a drag stop signal; An application module is used to perform variable damping control on the motor during the delay control period to reduce the current angular velocity; The control module is used to shut down the motor after the specified delay control duration, so that the robotic arm returns to a stationary state.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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