A method for controlling the state of a robot joint using five dimensions

Abstract

The application discloses a method for controlling the joint state of a robot by using five dimensions, and relates to the technical field of robot control. The method is realized by a controller cooperating with a driving unit and a sensor feedback adjusting unit. The driving unit comprises a driving motor, a driving rope, a brake device and a bionic mechanical tendon. The five control dimensions follow the progressive logic of 'basic driving-stable optimization-rigidity adaptation-space expansion-energy upgrade', and realize forward pulling force, reverse antagonistic force, muscle tension, force superposition and time superposition control in sequence. The application solves the problems of traditional robot joint control, such as motion overshoot, unadjustable rigidity, limited space motion and low energy utilization rate, realizes accurate, stable and flexible three-dimensional motion control of the joint and efficient use of energy, greatly improves the ability of the joint to adapt to different working scenes, and has reasonable structure design, strict control logic and strong practicability.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a method for controlling the joint state of a robot using five dimensions. Background Technology

[0002] In the more than 70 years of development of robotics technology, although existing robots can mimic the appearance of humans or animals, their internal structure and working principles are fundamentally different from those of natural humans, and their joint motion control modes are far from reaching the advanced level of the human body. Human motion control has five core force control dimensions: positive traction force control, negative antagonistic force control, muscle tone control, force superposition control, and time superposition control. However, most existing robot joint control technologies are limited to within 1.5 dimensions.

[0003] The first dimension of control mainly adjusts the rotor by changing the phase of the input motor current to achieve basic adjustments in position, speed, and torque, and then completes motion control in conjunction with the reducer, controller, and sensors. A few advanced technologies, such as Tesla's rope-driven control mode, achieve a 1.5-dimensional control level by using a rebound tendon rope without power drive or braking control to simulate the energy storage characteristics of biological tendons. Although it can reduce motor power consumption by 50% and increase the gripping speed to 0.2 times / second (traditional rigid structures require more than 0.5 seconds), it still lacks the active control of the opposing force, the graded regulation of muscle tension, and the synergistic effect of multi-dimensional force superposition and time-dimensional energy superposition.

[0004] The aforementioned existing technologies result in the following defects in robot joints: limited force output, making it difficult to adapt to heavy-load or high-intensity operations; insufficient room for improvement in movement speed, resulting in slow response; poor control precision and movement stability, making them prone to overshoot or jitter; lack of adjustable stiffness properties, making them susceptible to damage when operating on soft objects and poorly adaptable to hard environments; energy utilization efficiency still has room for improvement, resulting in high energy consumption; limited functionality and insufficient environmental adaptability. Summary of the Invention

[0005] The purpose of this invention is to solve the problems mentioned in the background art above, and to propose a method for controlling the joint state of a robot using five dimensions.

[0006] The technical solution adopted by this invention to solve its technical problem is: A method for controlling the state of a robot joint using five dimensions includes a joint, a drive unit, a sensor feedback adjustment unit, and a controller. The drive unit is used to drive the joint movement and works with the sensor feedback adjustment unit and the controller to achieve five-dimensional control of the robot joint state. The drive unit includes a drive motor, a drive rope controlled by the drive motor, and a braking device for locking or releasing the drive rope. The end of the drive rope acts on the moving part of the joint, and the drive rope or its transmission path is provided with a bionic mechanical tendon for storing elastic potential energy. The methods for controlling robot joint states using five dimensions include: First dimension: positive traction force control, controlling the drive unit on one side of the joint to generate unidirectional traction force, driving joint movement, and providing basic directional driving force for subsequent dimensions; The second dimension: counter-antagonistic force control, which controls the drive unit on the other side of the joint to generate an antagonistic force or resistance opposite to the direction of the unidirectional traction force, thereby optimizing motion stability; The third dimension: muscle tone control, which coordinates the drive units on both sides of the joint to apply preload forces in opposite directions to the joint, thereby generating controllable muscle tone and adjusting joint stiffness. The fourth dimension: force superposition control. For multi-degree-of-freedom joints, multiple sets of drive units arranged in different spatial directions are controlled to superimpose multiple forces in space vectors to achieve complex spatial movements of the joint. The fifth dimension is time-overlay control, which utilizes the third dimension control to pre-store elastic potential energy on both sides of the joint and releases the elastic potential energy through time-series control in conjunction with real-time drive, including time-overlay enhancement mode and time-overlay antagonism mode.

[0007] Furthermore, in the first dimension, the drive motor of the drive unit on one side of the joint controls the bionic mechanical tendon by independently arranged high-strength elastic drive ropes to unidirectionally pull the bionic mechanical tendon, generating a unidirectional pulling force to drive the joint to perform a single degree of freedom movement to that side, providing basic directional driving force. In the second dimension, based on the first dimension, the drive motor and / or braking device of the drive unit on the other side of the joint are controlled to generate an antagonistic force or resistance in real time that is opposite to the direction of the pull force in the first dimension through an antagonistic rope arranged symmetrically with the drive rope, thereby optimizing the motion stability. In the third dimension, based on the dynamic force balance environment formed by the driving force of the first dimension and the antagonistic force of the second dimension, the drive motors of the drive units on both sides of the joint are coordinated to apply preload forces with opposite directions and adjustable magnitudes to the moving parts of the joint simultaneously by the drive ropes on both sides. The deformation of the bionic mechanical tendon is adjusted by the coordinated adjustment of the drive motors and braking components on both sides, so that the bionic mechanical tendon coupled with the joint or drive ropes deforms and stores elastic potential energy, thereby forming a static or dynamic tension with controllable magnitude at the joint, thereby adjusting the joint stiffness. In the fourth dimension, based on the precise force control built in the first three dimensions, for joints with multiple degrees of freedom, multiple sets of drive units arranged in different spatial directions around the joint are controlled to allow multiple driving forces or antagonistic forces of different directions and magnitudes to act on the joint simultaneously. Each drive rope follows the driving logic of the first dimension and the antagonistic matching principle of the second dimension. The controller calculates the target tension of each drive rope according to the target posture of the joint through a vector synthesis algorithm. Combined with the muscle tension level of the third dimension, these forces are vector synthesized in space to generate a resultant force and resultant torque, realizing precise control of the resultant force or canceling force, thereby extending the joint movement from a planar / unidirectional plane to a three-dimensional space. In the fifth dimension, relying on the muscle tension storage capacity of the third dimension and the synergistic control logic of the first four dimensions, elastic potential energy is pre-stored in the bionic mechanical tendons on both sides of the joint using the control of the third dimension; the stored elastic potential energy is released through time-series control and coordinated with the active driving force generated in real time to achieve the superposition and utilization of energy at different time stages.

[0008] Furthermore, in the first dimension, the drive rope is made of carbon fiber reinforced polyamide elastic rope; the drive motor is a DC servo motor, and the current phase of the drive motor is adjusted by a PID algorithm.

[0009] Furthermore, in the second dimension, the antagonistic rope and the driving rope are arranged symmetrically about the joint rotation center, with a spacing of 1 / 3 to 1 / 2 of the joint diameter. The tension signal of the driving rope in the first dimension is collected in real time by the sensor feedback adjustment unit, and the controller dynamically adjusts the tension of the antagonistic rope according to the signal, so that the antagonistic force is 30%-80% of the driving force, forming a dynamic force balance, and the adjustment response time of the antagonistic force is synchronized with the change response time of the driving force in the first dimension.

[0010] Furthermore, in the third dimension, the bionic mechanical tendon is made of polyurethane carbon fiber composite material; and the braking component automatically releases the brake when the power is off, and maintains the braking state when the power is on.

[0011] Furthermore, in the fifth dimension, the energy storage process of the bionic mechanical tendon is based on the muscle tension regulation of the third dimension, with an energy storage time of 0.1s-1.5s. During the energy storage process, the braking component remains in a braking state, and the deformation of the bionic mechanical tendon is stable within ±2% of the set value in the third dimension. The release response time of the braking component is ≤8ms, ensuring the instantaneous release of the pre-stored energy, and the energy superposition mode is deeply coordinated with the first four dimensions.

[0012] Furthermore, the above scheme includes, in the fifth dimension, a time-overlay enhancement mode and a time-overlay antagonism mode: In the superimposed enhancement mode: when a joint needs to accelerate in a certain direction, the elastic potential energy stored on the target moving side is released first, and the active traction drive on that side is activated simultaneously or after a delay, so that the driving force corresponding to the pre-stored energy works synergistically with the real-time traction drive force of the first dimension and the combined force of the fourth dimension. In the time-superimposed antagonistic mode: while releasing the elastic potential energy on one side, the antagonistic control on the other side is activated or enhanced, and the pre-stored energy driving force works in conjunction with the second-dimensional antagonistic force and the fourth-dimensional canceling force.

[0013] Furthermore, the above scheme includes a sensor feedback adjustment unit comprising a tension sensor and a position sensor; wherein the tension sensor acquires the tension signals of the drive rope in the first, second, and fourth dimensions; and wherein the position sensor acquires the joint motion state.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention effectively solves the problem of poor motion stability in traditional single-dimensional or simple multi-dimensional robot joint control: by providing basic drive through the positive traction force in the first dimension, and generating a reverse force in real time through the reverse antagonistic force in the second dimension, it can accurately counteract motion and achieve precise braking and limiting. It fundamentally solves the problem of motion overshoot that is prone to occur in single-dimensional drive, provides reliable stability guarantee for joint movement, and improves the accuracy and safety of joint motion control.

[0015] 2. This invention achieves continuous adjustment of joint stiffness and multi-scenario adaptation. The third-dimensional muscle tension control, through the coordinated adjustment of the pretension force of the drive ropes on both sides of the joint, enables the joint stiffness to be continuously adjusted between zero and the maximum value. At the same time, it enables the bionic mechanical tendon to store elastic potential energy. Compared with traditional joint structures with fixed stiffness or limited adjustment range, this invention can flexibly adapt stiffness attributes according to the needs of different work scenarios, thus broadening the application scenario boundaries of robot joints.

[0016] 3. This invention breaks through the limitations of planar motion and realizes complex and dexterous control in three-dimensional space. The fourth-dimensional force superposition control, through the spatial arrangement of multiple sets of driving units and vector synthesis algorithm, synthesizes multiple driving forces / antagonistic forces of different directions and magnitudes into spatial vectors, so that joint motion is extended from planar / unidirectional to three-dimensional space. It can realize complex motion trajectory and posture control in three-dimensional space, which greatly improves the motion dexterity and operational adaptability of robot joints and can meet the needs of high-precision and complex tasks.

[0017] 4. This invention improves energy utilization efficiency and maximizes control performance potential. The fifth dimension, time-overlay control, relies on the elastic potential energy storage capacity of the bionic mechanical tendon, achieving synergistic utilization of stored energy and real-time active driving force through time-sequence control. Compared to traditional control methods that rely solely on real-time driving energy, this invention effectively improves energy utilization efficiency while maximizing the performance potential of the first four dimensions, making the joint more energy-efficient and responsive during movement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the joint state control process of the present invention; Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The present invention will be further described with reference to the accompanying drawings and embodiments: See attached document Figure 1 As shown, a method for controlling the state of a robot joint using five dimensions includes a joint, a drive unit, a sensor feedback adjustment unit, and a controller. The drive unit is used to drive the joint movement and, in conjunction with the sensor feedback adjustment unit and the controller, achieves five-dimensional control of the robot joint state. The drive unit includes a drive motor, a drive rope controlled by the drive motor for retraction and extension, and a braking device for locking or releasing the drive rope. In this embodiment, the braking device consists of a one-way brake shaft and an electronic clutch. The end of the drive rope acts on the movable part of the joint, and the drive rope or its transmission path is provided with a biomimetic mechanical tendon for storing elastic potential energy.

[0020] In addition, the five control dimensions follow a progressive logic of "basic drive - smooth optimization - stiffness adaptation - spatial expansion - energy upgrade" to collaboratively achieve precise control of the robot's joint states, specifically including: The first dimension is positive traction force control, which controls the drive motor of the drive unit on one side of the joint. Through independently arranged high-strength elastic drive ropes, it pulls the bionic mechanical tendon in one direction, generating a unidirectional traction force to drive the joint to perform a single degree of freedom movement in that side. This provides the basic directional drive force for the robot joint, realizes the core adjustment of joint position, speed and basic torque, and forms the underlying support for all subsequent dimension control.

[0021] The second dimension is the counterforce control. Based on the first dimension, it controls the drive motor and / or braking device of the drive unit on the other side of the joint. Through the counterforce ropes arranged symmetrically with the drive ropes, it generates in real time an antagonistic force or resistance opposite to the pulling force of the first dimension. This is used to counteract movement, achieve precise braking, limit or dynamically adjust the direction and speed of movement, solve the problem of overshoot that is prone to occur in single-dimensional drive, and provide a smooth guarantee for joint movement.

[0022] The third dimension: muscle tension control. Based on the dynamic force balance environment formed by the driving force of the first dimension and the antagonistic force of the second dimension, it coordinates the drive motors of the drive units on both sides of the joint to apply opposing and adjustable preloads to the moving parts of the joint via the drive cables on both sides. The drive motors and braking components on both sides coordinate to adjust the deformation of the bionic mechanical tendons, thereby causing the bionic mechanical tendons coupled to the joint or drive cables to deform and store elastic potential energy, thus forming controllable static or dynamic tension at the joint. This achieves multi-level precise control of muscle tension, giving the joint stiffness attributes that can adapt to different scenarios. By adjusting the magnitude of this preload, the stiffness and damping characteristics of the joint are actively and continuously adjusted, making the stiffness of the joint continuously adjustable between zero and its maximum value. When the preloads on both sides are balanced, the joint remains stationary and has static stiffness; when the balance is broken, the joint moves under the action of dynamic tension.

[0023] The fourth dimension is force superposition control. Building upon the precise force control established in the first three dimensions, for joints with multiple degrees of freedom, multiple sets of drive units arranged in different spatial directions around the joint are controlled to simultaneously apply multiple driving forces or antagonistic forces of different directions and magnitudes to the joint. Each drive rope follows the driving logic of the first dimension and the antagonistic matching principle of the second dimension. Based on the target posture of the joint, the controller calculates the target tension of each drive rope through a vector synthesis algorithm. Combined with the muscle tension level of the third dimension, these forces are vector synthesized in space to generate a resultant force and resultant torque, achieving precise control of the resultant force or canceling force. This extends joint movement from a planar / unidirectional plane to three-dimensional space, enabling complex and dexterous movement trajectories and posture control of the joint in three-dimensional space.

[0024] The fifth dimension is time-overlay control. Relying on the muscle tension storage capacity of the third dimension and the synergistic control logic of the first four dimensions, elastic potential energy is pre-stored in the bionic mechanical tendons on both sides of the joint using the third dimension control. The stored elastic potential energy is released through time-sequence control and coordinated with the active driving force generated in real time to achieve the superposition and utilization of energy at different time stages, maximizing the performance potential of the first four dimensions.

[0025] Among them, the first dimension of positive traction force control provides basic directional driving force, the second dimension of reverse antagonistic force control optimizes motion stability, the third dimension of muscle tension control adjusts joint stiffness and stores elastic potential energy, the fourth dimension of force superposition control realizes three-dimensional spatial motion, and the fifth dimension of time superposition control realizes energy cross-time period collaborative utilization. When in use, the controller coordinates each driving unit and sensor feedback adjustment unit in the sequence of "starting basic drive → loading stability optimization → adapting muscle tension → expanding spatial motion as needed → upgrading energy superposition as needed" to precisely control the robot joint state to adapt to different working scenarios.

[0026] In the above scheme, in the first dimension, the drive rope is a carbon fiber reinforced polyamide elastic rope with a diameter of 1.5mm-2.5mm and a breaking strength ≥450N; the drive motor is a DC servo motor with a rated torque of 5N・m-15N・m and a speed range of 0-3500rpm. The current phase of the drive motor is adjusted by a PID algorithm to achieve continuous adjustment of the drive rope tension from 0-200N.

[0027] In the above scheme, in the second dimension, the antagonistic rope and the drive rope are arranged symmetrically about the joint rotation center as the axis of symmetry, with a spacing of 1 / 3 to 1 / 2 of the joint diameter. The tension signal of the drive rope in the first dimension is collected in real time by the sensor feedback adjustment unit. The controller dynamically adjusts the tension of the antagonistic rope according to the signal, so that the antagonistic force is 30%-80% of the drive force, forming a dynamic force balance. The adjustment response time of the antagonistic force is synchronized with the change response time of the drive force in the first dimension (≤10ms). The antagonistic force or resistance can be achieved by controlling the drive motor of the opposite drive unit to output a reverse torque, and / or by controlling the braking device of the opposite drive unit to lock or dampen the drive rope.

[0028] In the above scheme, in the third dimension, the bionic mechanical tendon is made of polyurethane carbon fiber composite material with an elastic modulus of 1.2Gpa-2.8GPa, an elongation at break of ≥35%, and an operating temperature range of -20℃ to 60℃; the braking torque adjustment range of the braking component is 0.3N・m-8N・m, the braking response time is ≤10ms, the braking is automatically released when the power is off, and the braking state is maintained when the power is on.

[0029] In the above scheme, in the fourth dimension, the number of driving ropes is 3-6, which are evenly distributed along the joint spherical surface, and the included angle between adjacent ropes is 60°-120°, so as to achieve precise control of the resultant force direction error ≤±5° ​​and the resultant force magnitude error ≤±3%.

[0030] In the above scheme, in the fifth dimension, the energy storage process of the bionic mechanical tendon is based on the muscle tone regulation of the third dimension, with an energy storage time of 0.1s-1.5s. During the energy storage process, the braking component remains in a braking state, and the deformation of the bionic mechanical tendon is stable within ±2% of the set value in the third dimension. The release response time of the braking component is ≤8ms, ensuring the instantaneous release of the pre-stored energy. Furthermore, the energy superposition mode is deeply coordinated with the first four dimensions, specifically including: Time-overlay enhancement mode (same-direction overlay mode): When a joint needs to accelerate in a certain direction, the elastic potential energy stored on the target moving side is released first, and the active traction drive on that side is activated simultaneously or after a delay. At this time, the driving force corresponding to the pre-stored energy works synergistically with the real-time traction drive force of the first dimension and the combined force of the fourth dimension force. The actual driving force obtained by the joint is the superposition of the pre-stored elastic release force and the real-time applied active driving force in the time series. The superposition error is ≤±4%, and the joint movement speed is increased by 40%-80% compared with the single drive.

[0031] Time-superimposed antagonistic mode (reverse superimposed mode): While releasing elastic potential energy on one side, it initiates or enhances the antagonistic control on the other side; the pre-stored energy driving force works in conjunction with the second-dimensional antagonistic force and the fourth-dimensional canceling force to achieve fine control of the joint movement direction and speed by precisely adjusting the relative magnitude of the antagonistic force and the elastic release force (the difference between the antagonistic force and the pre-stored energy driving force is controlled within ±5N). The response time for switching the joint movement direction is ≤0.2s.

[0032] In the above scheme, the sensor feedback adjustment unit includes a tension sensor and a position sensor. The tension sensor collects rope tension signals in the first, second, and fourth dimensions, while the position sensor collects joint motion states. In addition, the controller adopts a multi-core DSP microcontroller with an operation frequency ≥1.2GHz. It has a built-in progressive control algorithm of "basic drive - smooth optimization - stiffness adaptation - space expansion - energy upgrade". Based on the sensor feedback signals, it corrects the control parameters of each dimension every 1ms. It first starts the first dimension to establish the basic drive, and then loads the second to fifth dimensions in sequence to achieve orderly coordination of each dimension, ensuring the coordination consistency of the five dimensions, and the joint motion trajectory tracking error ≤±0.05mm.

[0033] As can be seen from the above, through the coordinated action of the drive unit and various braking devices, the bionic mechanical tendon is deformed to generate tension and store or release elastic potential energy, as detailed below: When the forces on both sides are balanced, the joint remains stationary regardless of the magnitude of the force; that is, when the forces are balanced and the joint is stationary, the magnitude of mechanical muscle tension can be adjusted.

[0034] When there is an imbalance in the mechanical muscle tension on both sides of a joint, corresponding joint movement will be observed; during movement, different muscle tension levels will result in different movement effects.

[0035] The specific performance effects are as follows: Grade 0 muscle tone: tendon deformation ≤5%, joint weakness at rest, dormancy at rest, no effective motor output, suitable for non-working state; Grade 1-2 muscle tone: Tendon deformation 6%-15%, joints are flexible at rest, and suitable for gentle contact sports such as handshake and hugging at dynamic levels, with contact force controlled at 1N-5N; Grade 3-4 muscle tone: tendon deformation 16%-30%, joint has toughness and elasticity under static conditions, suitable for fine operations such as massage and picking under dynamic conditions, position control accuracy ≤±0.02mm; Grade 5 or above muscle tone: tendon deformation ≥31%, joint stiffness under static conditions, suitable for heavy-duty operations under dynamic conditions, maximum output torque ≥50N・m.

[0036] Applications that enable precise operation or heavy-duty tasks across different performance levels: For example: applications requiring precision handling, such as picking eggs: Dimensional synergy logic: The first dimension provides basic driving force (10N), the second dimension adjusts antagonistic tension (4N) to ensure stability, the third dimension sets 3-4 levels of muscle tension (25% of tendon deformation) to achieve toughness and elasticity, and the fourth dimension controls three-dimensional posture in coordination through 4 driving ropes, without the need for energy superposition in the fifth dimension; Results: Joint position control accuracy ±0.02mm, gripping force 3N, stable egg picking without damage, fully adapted to delicate operation scenarios.

[0037] For example, heavy-duty applications, such as moving 50kg stones: Dimensional synergy logic: The first dimension provides strong driving force (500N), the second dimension adjusts antagonistic tension (400N) to stabilize force balance, the third dimension sets muscle tension of level 5 or above (tendon deformation of 35%) to achieve joint stiffness, the fourth dimension uses multiple driving ropes to superimpose the combined force (800N), and the fifth dimension stores energy for 0.5s and then superimposes in the same direction to release pre-stored energy and synergize with real-time combined force; Results: The joint has a maximum output torque of 600 N·m and a movement speed of 0.3 m / s. Compared with traditional technology, the speed is increased by 60% and the energy consumption is reduced by 40%, enabling smooth completion of heavy-duty handling.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the joint state of a robot using five dimensions, characterized in that: It includes a joint, a drive unit, a sensor feedback adjustment unit, and a controller; the drive unit is used to drive the joint movement and works with the sensor feedback adjustment unit and the controller to achieve five-dimensional control of the robot joint state; wherein, the drive unit includes a drive motor, a drive rope controlled by the drive motor to extend and retract, a braking device for locking or releasing the drive rope, and the end of the drive rope acts on the moving part of the joint, and the drive rope or its transmission path is provided with a bionic mechanical tendon for storing elastic potential energy. The methods for controlling robot joint states using five dimensions include: First dimension: positive traction force control, controlling the drive unit on one side of the joint to generate unidirectional traction force, driving joint movement, and providing basic directional driving force for subsequent dimensions; The second dimension: counter-antagonistic force control, which controls the drive unit on the other side of the joint to generate an antagonistic force or resistance opposite to the direction of the unidirectional traction force, thereby optimizing motion stability; The third dimension: muscle tone control, which coordinates the drive units on both sides of the joint to apply preload forces in opposite directions to the joint, thereby generating controllable muscle tone and adjusting joint stiffness. The fourth dimension: force superposition control. For multi-degree-of-freedom joints, multiple sets of drive units arranged in different spatial directions are controlled to superimpose multiple forces in space vectors to achieve complex spatial movements of the joint. The fifth dimension is time-overlay control, which utilizes the third dimension control to pre-store elastic potential energy on both sides of the joint and releases the elastic potential energy through time-series control in conjunction with real-time drive, including time-overlay enhancement mode and time-overlay antagonism mode.

2. The method for controlling robot joint states using five dimensions according to claim 1, characterized in that: In the first dimension, the drive motor of the drive unit on one side of the joint pulls the bionic mechanical tendon in one direction through independently arranged high-strength elastic drive ropes, generating a unidirectional pulling force, driving the joint to perform a single degree of freedom movement to that side, and providing basic directional driving force; In the second dimension, based on the first dimension, the drive motor and / or braking device of the drive unit on the other side of the joint are controlled to generate an antagonistic force or resistance in real time that is opposite to the direction of the pull force in the first dimension through an antagonistic rope arranged symmetrically with the drive rope, thereby optimizing the motion stability. In the third dimension, based on the dynamic force balance environment formed by the driving force of the first dimension and the antagonistic force of the second dimension, the drive motors of the drive units on both sides of the joint are coordinated to apply preload forces with opposite directions and adjustable magnitudes to the moving parts of the joint simultaneously by the drive ropes on both sides. The deformation of the bionic mechanical tendon is adjusted by the coordinated adjustment of the drive motors and braking components on both sides, so that the bionic mechanical tendon coupled with the joint or drive ropes deforms and stores elastic potential energy, thereby forming a static or dynamic tension with controllable magnitude at the joint, thereby adjusting the joint stiffness. In the fourth dimension, based on the precise force control built in the first three dimensions, for joints with multiple degrees of freedom, multiple sets of drive units arranged in different spatial directions around the joint are controlled to allow multiple driving forces or antagonistic forces of different directions and magnitudes to act on the joint simultaneously. Each drive rope follows the driving logic of the first dimension and the antagonistic matching principle of the second dimension. The controller calculates the target tension of each drive rope according to the target posture of the joint through a vector synthesis algorithm. Combined with the muscle tension level of the third dimension, these forces are vector synthesized in space to generate a resultant force and resultant torque, realizing precise control of the resultant force or canceling force, thereby extending the joint movement from a planar / unidirectional plane to a three-dimensional space. In the fifth dimension, relying on the muscle tension storage capacity of the third dimension and the synergistic control logic of the first four dimensions, elastic potential energy is pre-stored in the bionic mechanical tendons on both sides of the joint using the control of the third dimension; the stored elastic potential energy is released through time-series control and coordinated with the active driving force generated in real time to achieve the superposition and utilization of energy at different time stages.

3. The method for controlling robot joint states using five dimensions according to claim 2, characterized in that: In the first dimension, the drive rope is made of carbon fiber reinforced polyamide elastic rope; The drive motor is a DC servo motor, and the current phase of the drive motor is adjusted by a PID algorithm.

4. The method for controlling robot joint states using five dimensions according to claim 2, characterized in that: In the second dimension, the antagonistic rope and the driving rope are arranged symmetrically about the joint rotation center as the axis of symmetry, with a spacing of 1 / 3 to 1 / 2 of the joint diameter. The tension signal of the driving rope in the first dimension is collected in real time by the sensor feedback adjustment unit. The controller dynamically adjusts the tension of the antagonistic rope according to the signal, so that the antagonistic force is 30%-80% of the driving force, forming a dynamic force balance. The adjustment response time of the antagonistic force is synchronized with the change response time of the driving force in the first dimension.

5. The method for controlling robot joint states using five dimensions according to claim 2, characterized in that: In the third dimension, the biomimetic mechanical tendon is made of polyurethane carbon fiber composite material; The braking system automatically releases the brakes when power is off and maintains the braking state when power is on.

6. The method for controlling robot joint states using five dimensions according to claim 2, characterized in that: In the fifth dimension, the energy storage process of the bionic mechanical tendon is based on the muscle tension regulation of the third dimension. The energy storage time is 0.1s-1.5s. During the energy storage process, the braking component maintains the braking state, and the deformation of the bionic mechanical tendon is stable within ±2% of the value set in the third dimension. The release response time of the braking component is ≤8ms, ensuring the instantaneous release of the pre-stored energy, and the energy superposition mode is deeply coordinated with the first four dimensions.

7. The method for controlling robot joint states using five dimensions according to claim 6, characterized in that: The fifth dimension includes a time-overlay enhancement mode and a time-overlay antagonism mode: In the superimposed enhancement mode: when a joint needs to accelerate in a certain direction, the elastic potential energy stored on the target moving side is released first, and the active traction drive on that side is activated simultaneously or after a delay, so that the driving force corresponding to the pre-stored energy works synergistically with the real-time traction drive force of the first dimension and the combined force of the fourth dimension. In the time-superimposed antagonistic mode: while releasing the elastic potential energy on one side, the antagonistic control on the other side is activated or enhanced, and the pre-stored energy driving force works in conjunction with the second-dimensional antagonistic force and the fourth-dimensional canceling force.

8. The method for controlling robot joint states using five dimensions according to claim 2, characterized in that: The sensor feedback adjustment unit includes a tension sensor and a position sensor; Among them, the tension sensor collects the tension signals of the drive rope in the first, second and fourth dimensions; Among them, the position sensor collects the joint movement status.

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