robot

Abstract

This application discloses a robot, belonging to the field of robotics technology. The robot includes a robotic arm, an actuator, and a controller. The controller is used to perform the following actions: acquiring the current task of a target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be processed; parsing the current task of the target interactive object to determine the mechanical characteristic requirements of each process execution stage in the current task; configuring a dynamic response model corresponding to the target interactive object based on the mechanical characteristic requirements; the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters; and controlling the robotic arm and the actuator based on the dynamic response model. The robot of this application improves the quality of automated operations and enhances the user experience.

Description

Technical Field

[0001] This application belongs to the field of automated robot operations, and in particular relates to a robot. Background Technology

[0002] In industrial operations, robots performing interactive tasks such as touch, grasping, and coating typically need to make direct physical contact with target objects that have complex materials or varying stiffness characteristics. Most control systems in these technologies rely on rigid trajectory motion based on pure position or force control strategies with fixed force thresholds. However, for more delicate tasks, such as touchscreen touch, object grasping, and paint application, when the surface of the work object has form and position tolerances or contour undulations, these technologies struggle to dynamically adjust the mechanical response characteristics during the interaction process. This can easily lead to rigid interference or mechanical vibration during robot interaction, thus affecting the user experience. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a robot that improves the quality of automated operations and enhances the user experience.

[0004] In a first aspect, this application provides a robot, comprising: A robotic arm and an actuator disposed at the end of the robotic arm; The controller is electrically connected to both the robotic arm and the actuator, and is used to perform the following: Obtain the current task of the target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be assigned a task. The current task of the target interactive object is analyzed to determine the mechanical characteristic requirements of each process execution stage in the current task. Based on the aforementioned mechanical property requirements, a dynamic response model corresponding to the target interactive object is configured; the dynamic response model is constructed from inertial property parameters, viscous property parameters, and elastic property parameters. The robotic arm and the actuator are controlled based on the dynamic response model.

[0005] According to this application, the robot determines the mechanical characteristic requirements of each process execution stage by analyzing the current task of the target interactive object, and configures a dynamic response model constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters to control the robotic arm and actuators. Through the dynamic coordination of the above parameters, the robot achieves smooth conformation to surface undulations, smooth buffering of contact impacts, and inertial following of sudden force changes during interactive operations. This enhances the robot's compliant interaction capability in complex operation processes, thereby improving the quality of automated operations and enhancing the user experience.

[0006] According to one embodiment of this application, the parsing of the current task of the target interactive object to determine the mechanical characteristic requirements of each process execution stage in the current task includes at least one of the following: When the target interactive object is an interactive terminal, the mechanical characteristic requirements for the touch phase of the target interactive object are determined as follows: the conforming requirement when contacting the interactive terminal, and the contact force retention requirement when performing the touch trigger action. When the target interactive object is an object to be picked up, the mechanical characteristic requirements for the grasping stage of the object to be picked up are determined as follows: the posture compliance requirement when grasping the object to be picked up, and the force locking and maintenance requirement after the grasping action is completed and the clamping state is established. When the target interactive object is the object to be worked on, the mechanical characteristic requirements for the coating stage of the target interactive object are determined as follows: the force maintenance requirement when performing coating motion along the surface of the object to be worked on, and the displacement dynamic compensation requirement when conforming to the undulation of the surface contour.

[0007] According to one embodiment of this application, configuring the dynamic response model corresponding to the target interactive object based on the mechanical characteristic requirements includes: Obtain the physical interaction characteristics of the target interactive object; Based on the physical interaction characteristics of the target interactive object and the mechanical property requirements, configure the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters in the dynamic response model.

[0008] According to one embodiment of this application, when the target interactive object is an interactive terminal, controlling the robotic arm and the actuator based on the dynamic response model includes: Control the robotic arm and the actuator to move above the target touch position of the interactive terminal; Based on the target point contact force and the dynamic response model, the actuator is controlled to contact the target point contact position along the first direction to perform the point contact operation; After completing the touch operation, the actuator is controlled to detach from the interactive terminal in a direction opposite to the first direction.

[0009] According to one embodiment of this application, when the target interactive object is an object to be picked up, controlling the robotic arm and the actuator based on the dynamic response model includes: Control the robotic arm and the actuator to move to the position of the object to be picked up, and retrieve the joint angle parameters corresponding to the object to be picked up; Based on the joint angle parameters, the actuator's joints are controlled to adaptively engage in order to fix the object to be picked up and simultaneously monitor the contact force parameters. When the contact force parameter meets the set target grasping force, maintain the current force and determine that the pickup is complete.

[0010] According to one embodiment of this application, when the target interaction object is a work-to-be-operated object, controlling the robotic arm and the actuator based on the dynamic response model includes: The actuator is controlled to pick up paint based on the coating process instructions; After the actuator is controlled to pick up the paint, based on the dynamic response model, the actuator is controlled to perform the coating operation along the surface of the object to be coated while maintaining the target coating force.

[0011] According to one embodiment of this application, controlling the actuator to pick up paint based on coating process instructions includes: While controlling the robotic arm and the actuator to move above the coating material, the robotic arm and the actuator make contact with the coating material based on the target pick-up force. Based on the target retrieval trajectory, the movement of the robotic arm and the actuator is controlled to retrieve the paint.

[0012] According to one embodiment of this application, controlling the actuator to perform a coating operation along the surface of the object to be coated while maintaining the target coating force, based on the dynamic response model, includes: In the first operation phase, the actuator is controlled to perform a coating operation along the surface of the object to be coated based on a first operating speed and a parameter at a first parameter value in the dynamic response model; wherein, the parameter at the first parameter value includes at least one of: inertial characteristic parameter, viscous characteristic parameter, and elastic characteristic parameter; After the first operation phase is completed, the operating speed of the actuator is reduced to the second operating speed, and the first parameter value is adjusted to the second parameter value; In the second operation phase, the actuator is controlled based on the second operating speed and the parameter at the second parameter value, and the interaction time is extended to perform the coating operation; wherein, the parameter at the second parameter value includes at least one of: inertial characteristic parameter, viscous characteristic parameter and elastic characteristic parameter.

[0013] According to one embodiment of this application, after controlling the actuator to perform a coating operation along the surface of the object to be coated while maintaining the target coating force based on the dynamic response model, the process includes: Image data of the work area on the object to be worked on is acquired, and the surface image data is analyzed to calculate the work quality score; If the quality score of the operation is lower than the quality qualification threshold, the dynamic response model parameters corresponding to the local repair process are retrieved, and the actuator is controlled to perform the coating repair operation along the local repair trajectory.

[0014] According to one embodiment of this application, controlling the robotic arm and the actuator based on the dynamic response model includes: The first displacement compensation amount is determined based on the pose change of the target interactive object; Based on the force error between the actual interaction force and the target force, the second displacement compensation amount is calculated using at least one of the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters. The first displacement compensation amount and the second displacement compensation amount are superimposed on the basic motion trajectory to synthesize the target operation pose command; The robotic arm and actuator are driven to perform actions according to the target work pose command in order to achieve the mechanical characteristic requirements.

[0015] Secondly, this application provides a robot control device, which includes: The first processing module is used to obtain the current task of the target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be assigned a task. The second processing module is used to parse the current task of the target interactive object to determine the mechanical characteristic requirements of each process execution stage in the current task. The third processing module is used to configure the dynamic response model corresponding to the target interactive object based on the mechanical characteristic requirements; the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters and elastic characteristic parameters; The fourth processing module is used to control the robotic arm and the actuator based on the dynamic response model.

[0016] According to the robot control device of this application, the mechanical characteristic requirements of each process execution stage are determined by analyzing the current task of the target interactive object, and a dynamic response model constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters is configured to control the robotic arm and actuator. Through the dynamic coordination of the above parameters, the robot achieves smooth conformation to surface undulations, smooth buffering of contact impacts, and inertial following of sudden force changes during interactive operations, enhancing the robot's smooth interaction capability in complex operation processes, thereby improving the quality of automated operations and enhancing the user experience.

[0017] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a robot control method performed by a controller in a robot as described in the first aspect above.

[0018] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a robot control method executed by a controller in a robot as described in the first aspect above.

[0019] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements a robot control method executed by a controller in a robot as described in the first aspect above.

[0020] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: By analyzing the current task of the target interactive object, the mechanical characteristic requirements of each process execution stage are determined. Based on this, a dynamic response model constructed from inertial, viscous, and elastic characteristic parameters is configured to control the robotic arm and actuators. Through the dynamic coordination of these parameters, the robot achieves compliant conformation to surface undulations, smooth buffering of contact impacts, and inertial following of sudden force changes during interactive operations. This enhances the robot's compliant interaction capabilities in complex tasks, thereby improving the quality of automated operations and enhancing the user experience.

[0021] Furthermore, by retrieving the joint angle parameters corresponding to the object to be picked up, the actuator's joints are controlled to adaptively engage, and the contact force parameters are monitored simultaneously during the object fixation process until the set target grasping force is met, at which point the current force is maintained. Through the coordinated control of the above steps, the robot achieves reliability and safety in the grasping process by dynamically adjusting the joint pose, thereby improving the quality of automated operations and enhancing the user experience.

[0022] Furthermore, by using the target picking force and picking trajectory to pick up the coating material during the picking stage, fully automatic material replenishment and sufficient and uniform picking are achieved, meeting the process requirements of unmanned continuous coating. In conjunction with the dynamic response model to maintain the target coating force during the coating process, constant pressure compliance and trajectory smoothing of the actuator on complex curved surfaces are achieved, thereby improving the quality of automated operation and enhancing the user experience.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is one of the flowcharts illustrating the robot control method executed by the controller in the robot provided in this application embodiment; Figure 2 This is a second schematic flowchart of the robot control method executed by the controller in the robot provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the robot control device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0026] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0027] The robot, robot control device, readable storage medium, and computer program product provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0028] In some embodiments, the robot includes a robotic arm, an actuator, and a controller.

[0029] The actuator is located at the end of the robotic arm; the controller is electrically connected to both the robotic arm and the actuator. The controller is used to perform actions such as Figure 1 Steps 110 to 150 are shown.

[0030] During the research and development process, the inventors discovered that in industrial operation scenarios, when robots perform interactive tasks such as touchscreen interaction, object grasping, and paint application, related technologies mostly employ a control mode that combines visual positioning with fixed trajectory planning. However, the actual objects being worked on often exhibit significant differences in dimensional tolerances, surface curvature, and material stiffness, and are easily affected by environmental disturbances, resulting in dynamic shifts in spatial pose. Related technologies struggle to balance the flexibility of dynamic following with the compliance of physical contact, thus impacting the quality of automated robot operations.

[0031] To improve the quality and effectiveness of automated robotic operations, the inventors, after in-depth research, proposed a robot comprising: a robotic arm and an actuator disposed at the end of the robotic arm; a controller electrically connected to both the robotic arm and the actuator; the controller is used to perform the following actions: adjusting the target contact force required by the actuator based on the physical interaction characteristics of the target interaction object interacting with the robot; determining a first displacement compensation amount based on the spatial position change of the target interaction object within the current execution cycle; calculating a second displacement compensation amount based on the actual contact force between the actuator and the target interaction object and the target contact force in the current execution cycle; superimposing the first and second displacement compensation amounts onto the basic motion trajectory to generate the target interaction command for the current execution cycle; the basic motion trajectory is determined based on the current spatial pose data of the target interaction object in the current execution cycle; and controlling the robotic arm and the actuator based on the target interaction command.

[0032] The robot provided in the embodiments of this application adjusts the target contact force according to the physical interaction characteristics of the target interactive object, and calculates the first displacement compensation amount and the second displacement compensation amount based on the spatial position change of the target interactive object and the actual force deviation to correct the basic motion trajectory. It can take into account both the real-time posture following of the dynamic target and the compliant adaptation during physical contact, improve the operation accuracy and force control stability in complex interactive operation processes, thereby improving the operation quality of automated operation and enhancing the user experience.

[0033] The following explanation uses a robot as the executor to illustrate steps 110 to 150.

[0034] Step 110: Based on the physical interaction characteristics of the target interaction object interacting with the robot, adjust the target contact force required by the actuator; In this step, the physical interaction characteristics of the target interactive object refer to the comprehensive attributes of the target interactive object's mechanical response and operational requirements on the interaction side.

[0035] Target contact force refers to the expected force benchmark or force threshold that the actuator needs to reach and maintain during contact with the target object in order to achieve the smooth execution of the current task and adapt to the physical interaction characteristics.

[0036] In some embodiments, the target interaction object may include, but is not limited to, an interaction terminal, an object to be picked up, or an object to be processed.

[0037] In this embodiment, an interactive terminal refers to a device that has an interactive interface and requires an actuator to apply a specific triggering force to realize information input or command issuance, such as a display terminal, a touch panel, a physical button array of an industrial console, or an electronic whiteboard.

[0038] The object to be picked up refers to discrete items that need to be fixed and spatially transferred by actuators through clamping, holding, or other means during operations such as handling, assembly, or sorting. Examples include metal parts, electronic components, warehousing and logistics packaging boxes, or flexible cables.

[0039] The workpiece to be worked on refers to the workpiece that requires the actuator to maintain physical contact with its surface and perform continuous actions along its contour during surface processing or treatment tasks, such as automotive body panels that need to be coated, mold surfaces that need to be ground, or aircraft skins that need to be polished.

[0040] In actual execution, the physical interaction characteristics of the target interaction object may include at least one of the following: For example, in touchscreen touch operations, the target interaction object is the interactive terminal, and the physical interaction characteristics are high-rigidity hard contact characteristics. The target contact force needs to be adapted to the hard contact characteristics to reduce the risk of damaging the screen.

[0041] In industrial object grasping operations, the target interaction object is the object to be picked up. The physical interaction characteristics are manifested in the geometric shape and surface friction characteristics of the target workpiece. The target contact force needs to be adjusted according to the weight and material of the workpiece to achieve stable clamping. In industrial coating operations, the target interaction object is the object to be coated. The physical interaction characteristics are manifested in the curvature distribution of the surface to be coated and the coating diffusion characteristics. A constant target contact force needs to be adjusted to achieve uniform coating thickness.

[0042] In actual execution, when the preset triggering conditions are met (such as system power-on reset or receiving a start operation command), the robot can load mechanical parameters determined by the physical interaction characteristics of the target interaction object during the system initialization phase. For example, according to the currently set task requirements (such as coating thickness requirements or gripping stability requirements), the preset target contact force can be loaded. At the same time, dynamic model parameters that match the current actuator and physical interaction characteristics are called from the preset tool feature library, so that the actuator has the ability to make compliant contact that adapts to the physical interaction characteristics of the target interactive object.

[0043] In other practical implementations, the robot can also perform relevant operational environment configurations during the system initialization phase.

[0044] For example, reading the coordinate system transformation parameters between the robot system and the robotic arm and actuator system to establish a unified workspace reference; another example is completing the reset operation of the force sensor in the robot; For example, loading quality standard parameters for detecting job quality provides a quantitative comparison standard for subsequent automated quality assessment, enabling the robot to have the ability to autonomously evaluate the job results.

[0045] In some embodiments, quality standard parameters include, but are not limited to, coating thickness uniformity of the work area, surface defect detection thresholds (such as size limits for bubbles, cracks or particles), target area coverage, and overall work quality score thresholds.

[0046] In other embodiments, for specific interaction scenarios, the quality standard parameters may also include indicators such as contact position deviation limits (used to evaluate touch accuracy), object slip displacement thresholds (used to evaluate grasping stability), and interface stress distribution consistency.

[0047] By presetting these industrial process parameters, quantitative criteria can be provided for subsequent closed-loop testing and adaptive repair, ensuring that the robot's operation results meet the quality standards of industrial production.

[0048] In some embodiments, step 110 includes: Based on the contact task type and surface material properties of the target interactive object in the current work scenario, determine the physical interaction characteristics; Based on physical interaction characteristics, the target contact force required by the actuator is adjusted.

[0049] In this embodiment, the contact task type refers to the technological objective of the robot's operation, such as touch operations on a display terminal or human-machine interface, grasping operations on industrial workpieces, and coating operations on a specific task objective. The robot matches corresponding control logic based on the contact task type to achieve adaptive interaction in different industrial scenarios.

[0050] By coupling the process objectives with material properties, the robot can accurately locate the current physical interaction characteristics. For example, when the task type is "point-touch operation" and the material property is "rigid glass", the physical interaction characteristics determined by the robot are high-rigidity sensitive interaction characteristics; when the task type is "coating operation" and the material property is "elastic polymer", the determined physical interaction characteristics are variable stiffness flexible following characteristics.

[0051] In some embodiments, the target contact force may include, but is not limited to: target point contact force, target grasping force, target picking force, and target coating force.

[0052] In this embodiment, the contact force at the target point is used for the interactive operation of the precision electronic interface. Its value is set to support the triggering of the interactive response, while limiting the contact force within the structural strength threshold of the target interactive object to reduce the risk of damaging the target. The target gripping force is applied in industrial clamping scenarios. Its magnitude is adjusted based on the mass, friction characteristics, and motion acceleration requirements of the target workpiece to improve the stability and reliability of the gripping process. The target force is used in the application of coatings or raw materials. By adjusting the contact force and contact displacement between the actuator and the material interface, it helps to adjust the amount of material obtained, so as to reduce the situation of over- or under-application. The target coating force is used to guide the coating to cover the surface evenly. By maintaining a constant contact pressure between the actuator and the surface to be coated, the coating maintains consistency and smoothness.

[0053] Step 120: Determine the first displacement compensation amount based on the spatial position change of the target interactive object within the current execution cycle; In this step, the current execution cycle refers to the sampling cycle during which the robot's visual perception system interacts with the robot's control system. The duration of the sampling cycle is determined by the system's control frequency; for example, when the control system's sampling frequency is 500Hz, the corresponding sampling cycle is 2ms.

[0054] The spatial position change of the target interactive object within the current execution cycle refers to the relative offset between the pose matrix of the target interactive object at the current sampling time t and the pose matrix at the previous sampling time t-1 in the robot's base coordinate system. This change characterizes the motion vector of the target interactive object in three-dimensional space and is used to guide the robotic arm in trajectory tracking.

[0055] The first displacement compensation amount refers to the predictive correction value obtained based on visual feedback, used to compensate for motion deviations of the target interactive object. By superimposing this compensation amount onto the original planned path, the controller can correct the end effector trajectory of the robotic arm in real time, enabling the actuator to maintain the desired interactive pose relative to the target interactive object even in dynamic environments.

[0056] In order to obtain the pose matrix of the target interactive object at the current sampling time t, in actual execution, the robot mainly uses the vision processing thread as the execution subject to complete the real-time perception and data parsing of the image.

[0057] When the timer trigger condition is met or a new image frame arrival signal is received, the vision processing thread acquires the image stream from the RGB-D camera and enters the corresponding processing mode based on the current job status.

[0058] In normal mode, the vision processing thread calls an industrial-grade six-dimensional pose estimation algorithm model to parse the image stream and regress the six-dimensional spatial pose matrix of the target interactive object. The pose matrix is ​​sent to the control system via shared memory to calculate the aforementioned relative offset value and determine the first displacement compensation amount, thereby supporting dynamic trajectory tracking and ensuring accurate relative positioning between the actuator and the target interactive object (such as the center of the screen, the center of gravity of the workpiece to be grasped, or the coating reference point).

[0059] Furthermore, when the robot receives a quality inspection request, the vision processing thread switches to quality inspection mode. In this mode, the robot's control vision hardware switches to high-resolution acquisition mode and runs a semantic segmentation network (such as DeepLabV3+ models) to accurately extract pixel-level masks of the work area (such as the coating area or the gripping contact area) and statistically analyze the relevant physical feature distribution data (such as the consistency of paint coverage or the texture features of the work surface).

[0060] Through the above operating mechanism, the visual perception and processing process not only serves to calculate the first displacement compensation during the dynamic tracking process, but also provides high-precision image analysis data for subsequent quality closed-loop detection, which helps to realize a complete operational closed loop from perception to execution to quality evaluation.

[0061] In some embodiments, step 120 includes: Obtain the current pose matrix of the target interactive object in the current execution cycle, and the historical pose matrix in the previous execution cycle; Calculate the positional offset between the current pose matrix and the historical pose matrix; The position offset is used as the first displacement compensation amount to compensate for the spatial movement of the target interactive object during dynamic interaction.

[0062] In this embodiment, "current pose matrix" refers to the six-dimensional pose state of the target interactive object in three-dimensional space as perceived by the visual perception system in the robot at the sampling time t of the current control loop. The "historical pose matrix" refers to the six-dimensional pose state of the target interactive object recorded by the visual perception system in the robot at the immediately preceding sampling time t-1. The "relative offset" represents the actual position change vector of the target interactive object in space between these two consecutive sampling times.

[0063] In actual execution, the robot can call an industrial-grade six-dimensional pose estimation algorithm model through the vision processing thread to parse the image stream acquired by the RGB-D camera, thereby continuously regressing and outputting the six-dimensional spatial pose matrix at the corresponding sampling time.

[0064] In some embodiments, the positional offset between the current pose matrix and the historical pose matrix can be calculated using the following formula:

[0065] in, This represents the current pose matrix of the target interactive object at the current sampling time t; This represents the historical pose matrix of the target interactive object at the previous sampling time t-1. This represents a function that extracts spatial position coordinates from the pose matrix. This represents the calculated position offset.

[0066] The calculated position offset is directly used as the first displacement compensation amount and sent to the robot's controller. In the controller, the first displacement compensation amount can be superimposed on the basic motion trajectory of the robotic arm and actuator in the current execution cycle to correct the motion trajectory of the robotic arm's end effector.

[0067] Step 130: Calculate the second displacement compensation amount based on the actual contact force between the actuator and the target object in the current execution cycle and the target contact force. In this step, actual contact force refers to the actual force generated between the actuator (or the working tool mounted on the actuator) and the target interactive object during the operation; in some embodiments, actual contact force can be collected based on a force feedback sensor set at the end of the robotic arm.

[0068] Target contact force refers to the expected force benchmark or force threshold that the actuator needs to reach and maintain during contact with the target object in order to achieve the smooth execution of the current task and adapt to the physical interaction characteristics.

[0069] The second displacement compensation amount refers to the dynamic adjustment value used to correct the actuator's spatial pose, calculated based on the difference between the actual contact force and the target contact force. The force error between the actual and target contact forces is input into the aforementioned dynamic response model to calculate the change in spatial position. By introducing this compensation amount, the robot can dynamically change the local trajectory of the robotic arm based on the mechanical feedback during the contact process, enabling the actuator to actively perform "yield" or "approach" movements, thus smoothly conforming to the interface undulations or material deformations of the target interactive object, ultimately maintaining the actual contact force near the target contact force.

[0070] In some embodiments, step 130 includes: Obtain the actual contact force between the actuator and the target interaction object during the current execution cycle, and calculate the force error between the actual contact force and the target contact force; The force error is input into the dynamic response model, and the second displacement compensation is calculated.

[0071] In this embodiment, the force error represents the difference between the current actual interactive force and the expected force reference. The dynamic response model is the compliant control model constructed based on the parameters of inertia, viscosity and elasticity. Through this model, the error in the mechanical dimension can be transformed into the second displacement compensation in the spatial kinematic dimension, so that the robotic arm and actuator can output dynamic position correction actions that conform to the physical force law.

[0072] In actual execution, the formula for calculating force error can be expressed as:

[0073] in, This represents the force error between the actual contact force and the target contact force within the current execution cycle t. Indicates the contact force of the target. This represents the actual contact force within the current execution cycle t.

[0074] In some embodiments, the force error is input into the dynamic response model, and the second displacement compensation amount is calculated, including: The force error is input into the dynamic response model to calculate the force characteristics and obtain the velocity within the current execution cycle. The second displacement compensation amount and velocity of the previous execution cycle are added together with the duration of the execution cycle to obtain the second displacement compensation amount in the current execution cycle.

[0075] In this embodiment, the duration of the execution cycle refers to the fixed time step of the robot performing equal-frequency discrete sampling (i.e., ).

[0076] In some embodiments, the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters.

[0077] In this embodiment, the inertial characteristic parameter refers to a physical reference quantity in the dynamic response model that characterizes the hysteresis effect of the robot in response to changes in motion state. It is mainly used to reflect the inherent response characteristics of the actuator when it generates spatial acceleration under dynamic force conditions. The value of this parameter is related to the agility or sluggishness of the robot's action response to changes in external contact force. Viscous characteristic parameters are physical reference quantities in dynamic response models that characterize the kinetic energy dissipation effect generated by a robot during spatial motion. They are usually related to the motion speed of the actuator (such as linear velocity or angular velocity) and are used to simulate the robot's resistance to sudden motion changes during dynamic interactions, which helps to reduce the risk of trajectory overshoot or mechanical oscillation during contact processes. Elastic characteristic parameters are physical reference quantities in the dynamic response model that characterize the robot's ability to resist spatial positional deviation and deformation recovery. They are mainly related to the amount of spatial displacement of the actuator from the desired pose and are used to simulate the robot's elastic recovery tendency when subjected to external forces. They characterize the robot's compliant spatial boundary at the dynamic interaction interface to adapt to surface undulations by yielding its position.

[0078] In actual implementation, the continuous dynamic response model can be expressed by the following formula:

[0079] in, Indicates inertial characteristic parameters, Indicates the viscosity characteristic parameter, Represents elastic property parameters, Indicates force error, Indicates acceleration. Indicates speed, Indicates displacement.

[0080] In actual execution, based on the inertial, viscous, and elastic parameters in the dynamic response model, the discrete form of the second-order differential equation is solved using numerical integration, and the acceleration within the current execution cycle is derived in real time. The speed within the current execution cycle is then calculated through integration. .

[0081] In some embodiments, the product of speed and execution cycle duration is added to the second displacement compensation amount of the previous execution cycle to obtain the second displacement compensation amount in the current execution cycle. The first-order integral discretization approximation calculation of its dynamic response model can be expressed by the formula:

[0082] in, This represents the second displacement compensation amount within the current execution cycle t (i.e., the force-controlled virtual displacement currently calculated). This represents the second displacement compensation amount (i.e., the historical force-controlled virtual displacement) in the previous execution cycle (t-1). This indicates the speed at which the solution is obtained within the current execution cycle. Indicates the duration of the execution cycle.

[0083] In this embodiment, the virtual displacement output by the dynamic response model As the second displacement compensation amount.

[0084] In some embodiments, the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters are determined based on the physical interaction characteristics of the target interactive object.

[0085] In other embodiments, the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters can also be determined based on the working tools mounted on the robotic arm and / or actuator.

[0086] In this embodiment, the work tool is used to interact with the target interactive object.

[0087] In actual operation, the tools mounted on the actuators (such as rigid probes for precision contact, heavy-duty mechanical grippers for workpiece gripping, or flexible scrapers for paint application) exhibit significant physical differences in their mass distribution, structural damping, and material hardness across various industrial scenarios. These inherent differences directly alter the overall dynamic characteristics of the robotic arm and the actuator.

[0088] Therefore, when constructing the dynamic response model and configuring various parameters, the end-load inertia of the robotic arm and the inherent structural characteristics of the working tool (such as the inertial characteristic parameter corresponding to the tool's self-weight and the elastic characteristic parameter corresponding to the tool's material elastic modulus) are used as benchmark references and coupled with the physical interaction characteristics of the aforementioned target interaction object for joint calibration, thereby further improving the robot's control stability and compliance accuracy in dynamic interaction.

[0089] According to the robot provided in the embodiments of this application, a dynamic response model is constructed using inertial characteristic parameters, viscous characteristic parameters and elastic characteristic parameters, and the force error acquired in real time is input into the model. The second displacement compensation amount corresponding to the mechanical feedback is obtained through iterative accumulation and calculation. This realizes the transformation of deviation information in the mechanical dimension into pose correction action in the kinematic dimension, which improves the interaction stability in complex interactive operation process, thereby improving the operation quality of automated operation and enhancing the user experience.

[0090] Step 140: Superimpose the first displacement compensation amount and the second displacement compensation amount onto the basic motion trajectory to generate the target interaction command for the current execution cycle; In this step, the basic motion trajectory is determined based on the current spatial pose data of the target interactive object in the current execution cycle.

[0091] The first displacement compensation amount is the spatial relative offset calculated by the visual perception system.

[0092] The second displacement compensation is the force-controlled virtual displacement calculated from the dynamic response model.

[0093] The target interaction commands are used to drive the robotic arm and actuators to perform actions.

[0094] In actual execution, the basic motion trajectory, force-controlled correction displacement, and visual compensation displacement are superimposed in a multi-dimensional vector to obtain the target interaction command, which can be expressed by the formula:

[0095] in, This represents the target interactive instruction synthesized within the current execution cycle t (i.e., the final desired pose of the robotic arm's end effector). This represents the basic motion trajectory within the current execution cycle t (e.g., a straight or S-shaped covering trajectory in industrial coating operations, or a normal approach trajectory in point-and-click operations). This represents the second displacement compensation amount within the current execution cycle t. This represents the first displacement compensation amount within the current execution cycle t.

[0096] In some embodiments, step 140 includes: The first displacement compensation amount and the second displacement compensation amount are superimposed on the basic motion trajectory to synthesize the target pose; Inverse kinematics calculation is performed on the target pose to obtain the corresponding target joint angles; Based on the target joint angle, generate the target interaction instructions for the current execution cycle.

[0097] In this embodiment, the target pose refers to the desired spatial state of the end effector after integrating the basic desired trajectory and the dual compensation quantities of vision and force control in the robot's workspace (such as the Cartesian coordinate system). The target joint angle refers to the specific rotation angle value required by the servo motors of each axis of the robotic arm and actuator to achieve the target pose after inverse kinematics calculation.

[0098] In actual execution, the inverse kinematics solution module in the robot is invoked to generate the synthesized target pose in the workspace. This is converted into the corresponding joint space target pose, i.e., the target joint angle. Ultimately, the target joint angle will be determined. It is encapsulated as a target interaction command and sent to the servo driver at the bottom layer of the robotic arm.

[0099] The specific operational mechanism of vision-force control dual closed-loop trajectory correction and execution in steps 120-140 is explained below.

[0100] In actual execution, the vision-force control dual-loop trajectory correction and execution control process is handled by a real-time force control loop thread (e.g., with a control frequency set to 500Hz or higher). The data processed in this process mainly includes real-time feedback data from the six-dimensional force sensor, visual perception pose data, and preset basic trajectory points, ultimately acting on the underlying joint servo actuators of the robotic arm. When the robot confirms that it has entered a dynamic operation state such as point-and-click, dynamic grasping, or surface coating, this mechanism is triggered, and it begins to cyclically execute various actions according to the set sampling period.

[0101] In the specific execution of each sampling cycle, the first step is to synchronously acquire data and read the actual contact force fed back by the six-dimensional force sensor at the current sampling time t. Simultaneously, it retrieves the latest calculated position of the target interactive object from shared memory, based on the visual processing thread. The posture is then determined. Subsequently, force error calculation is performed to determine the force error between the desired target contact force and the actual contact force. .

[0102] Based on the collected and calculated data, force-controlled displacement calculation and visual displacement compensation are performed respectively. On the one hand, the calculated force error... As an external excitation input into the dynamic response model constructed from inertial, viscous, and elastic parameters, the second displacement compensation amount (i.e., force-controlled virtual displacement) for the current execution cycle is obtained by discretized numerical integration. On the other hand, extract the current pose. The coordinate difference between the target interactive object and its historical pose is used to calculate the positional offset caused by the dynamic environment, thereby determining the first displacement compensation amount, visual displacement compensation. .

[0103] After obtaining the dual compensation values, the instruction synthesis and issuance stage begins: the basic motion trajectory of the current cycle is... Second displacement compensation amount and the first displacement compensation amount Multidimensional vector superposition is performed in the workspace coordinate system to obtain the synthesized end-target pose. Then, the inverse kinematics solution module is invoked to convert it into a target joint angle in joint space. Finally, this angle command is sent to the underlying joint servo driver to drive the motor response, thereby completing the closed-loop trajectory correction and execution process within a single control cycle.

[0104] According to the robot provided in the embodiments of this application, the first displacement compensation amount determined based on the spatial position change based on visual perception and the second displacement compensation amount calculated based on the mechanical perception feedback are superimposed on the basic motion trajectory to construct a real-time trajectory correction mechanism that coordinates vision and force control. This enables the robot to synchronously compensate for the pose drift of the target interactive object and adapt to the force changes during the interaction process, thereby improving the operation accuracy and force control stability in complex interactive operations, thus improving the operation quality of automated operations and enhancing the user experience.

[0105] Step 150: Control the robotic arm and actuator based on the target interactive instructions.

[0106] In this step, target interaction commands are used to drive the robotic arm and actuators to perform actions.

[0107] In some embodiments, step 150 includes: Send the target interaction command, which includes the target joint angle, to the robot's actuator; The actuator drives the robotic arm and the actuator to work together according to the target joint angle so that the actuator can make contact with the surface of the target interactive object; After the actuator establishes contact with the surface of the target interactive object, the force between the actuator and the surface of the target interactive object is maintained as the target contact force, and the actuator is controlled to perform interactive operations along the surface of the target interactive object.

[0108] In this embodiment, the target contact force refers to the expected force benchmark or force threshold that the actuator needs to reach and maintain during contact with the target interactive object in order to achieve the smooth execution of the current task and adapt to the physical interaction characteristics.

[0109] In actual execution, the target interaction command (i.e., the control message containing the target joint angle) generated by the above calculation is sent in real time to the servo drivers of each joint of the robot via an industrial communication bus (such as a high-speed bus like EtherCAT). After receiving the command, the driver, in conjunction with the underlying servo closed loop (such as the position loop, velocity loop, and current loop), converts it into the corresponding electrical drive signal, thereby driving the robotic arm and the motors of each joint of the actuator in the robot to perform the corresponding movements, so that the actuator accurately reaches the desired spatial position and outputs the desired contact force.

[0110] In some embodiments, the process of controlling the actuator to perform an interactive operation along the surface of the target interactive object includes: Monitor the actual contact force and determine whether the actual contact force exceeds the safe force threshold; If the actual contact force exceeds the safety force threshold, an emergency stop command is triggered, controlling the robotic arm and actuator to immediately stop moving.

[0111] In this embodiment, the safety force threshold refers to the maximum permissible force boundary set to reduce the risk of structural damage to the robotic arm, actuator, or target interactive object in abnormal collisions or deep compressions. An emergency stop command is a braking message or enable cut-off signal sent to the robot's underlying control hardware when a serious safety hazard is detected. This command has the highest priority.

[0112] In actual execution, the specific logic of the aforementioned safety monitoring and final process decision-making is implemented by the safety monitoring module within the robot. This module maintains continuous monitoring throughout the robot's entire dynamic operation cycle. Its processing includes not only real-time force data fed back by the six-dimensional force sensor, but also the current task queue and operation cycle status (such as the repair cycle counter). When performing force safety judgment actions, the safety monitoring module continuously reads and calculates the absolute value of the current actual contact force (i.e., |Factual|). Once it is determined that the absolute value of the actual contact force exceeds the preset safety force threshold (i.e., the condition |Factual|>Fsafe is met), it indicates that there may be abnormal obstruction or unforeseen rigid contact at the current "tool-target" contact interface. At this point, the safety monitoring module will break out of the conventional force control or visual tracking cycle, trigger and issue an emergency stop command, cut off the motion enable of the underlying joint servo drives, and control the robotic arm and actuators to stop subsequent spatial movements. This parallel monitoring mechanism helps improve the safety of equipment and operating objects during dynamic interactive operations.

[0113] This application also provides a robot.

[0114] In some embodiments, the robot includes a robotic arm, an actuator, and a controller.

[0115] The actuator is located at the end of the robotic arm; the controller is electrically connected to both the robotic arm and the actuator.

[0116] The controller is used to perform actions such as Figure 2 Steps 210 to 240 are shown.

[0117] During the research and development process, the inventors discovered that robots in industrial operation scenarios, when performing interactive tasks such as touchscreen interaction, object grasping, and paint application, typically need to make direct physical contact with target objects that have complex materials or varying stiffness characteristics. Related control systems mainly employ two operating modes: one relies on rigid trajectory motion based on pure position commands. This method cannot achieve dynamic physical adaptation, and when the target object's surface has manufacturing tolerances or faces dynamic disturbances, it is highly susceptible to mechanical rigid interference or damage to the target object. The second mode uses a single open-loop force control strategy with a fixed force threshold. This strategy typically only uses the force threshold as an open-loop criterion for stopping the action, and cannot dynamically adjust the system's spatial damping, stiffness, and other mechanical characteristics according to the specific requirements of different process stages. This leads to mechanical vibrations in the robot at the moment of contact, making it difficult to adapt to complex local feature changes.

[0118] To improve the quality and effectiveness of automated robotic operations, the inventors, after in-depth research, proposed a robot comprising: a robotic arm and an actuator disposed at the end of the robotic arm; a controller electrically connected to both the robotic arm and the actuator; the controller is used to perform the following actions: acquiring the current task of a target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be processed; parsing the current task of the target interactive object to determine the mechanical characteristic requirements of each process execution stage in the current task; configuring a dynamic response model corresponding to the target interactive object based on the mechanical characteristic requirements; the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters; and controlling the robotic arm and the actuator based on the dynamic response model.

[0119] According to the robot provided in the embodiments of this application, the mechanical characteristic requirements of each process execution stage are determined by analyzing the current task of the target interactive object. Based on this, a dynamic response model constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters is configured to control the robotic arm and actuator. Through the dynamic coordination of the above parameters, the robot achieves smooth conformation to surface undulations, smooth buffering of contact impacts, and inertial following of sudden force changes during interactive operations. This enhances the robot's compliant interaction capability in complex operation processes, thereby improving the quality of automated operations and enhancing the user experience.

[0120] The following explanation uses a robot as the executor to illustrate steps 210 to 240.

[0121] Step 210: Obtain the current job task of the target interactive object; In this step, the target interactive object includes the interactive terminal, the object to be picked up, or the object to be processed.

[0122] In some embodiments, the central controller in the robot can acquire the current task through various logical triggering methods, including but not limited to: It receives real-time scheduling instructions from the production line monitoring system or host computer through the communication interface; retrieves and parses the process execution script from the local storage unit; or responds in real time to the logic trigger signals fed back by external sensing units (such as vision sensors, photoelectric switches, proximity switches, etc.).

[0123] In this embodiment, the current task includes, but is not limited to, the specific type of action to be performed, and also indicates the type of the target interactive object to which the action is directed and its corresponding initial process parameters.

[0124] In actual industrial operations, the specific form of the current task is closely related to the application scenario.

[0125] For example, when the target interaction object is an interactive terminal, the current task can be: to apply a target force to the set interaction area to trigger a specific state response of the target interaction object; When the target interaction object is the object to be picked, the current task can be: to establish and maintain a stable force-closed or shape-closed constraint state with the target interaction object in order to realize its target pose transfer in the work space; When the target interaction object is the object to be worked on, the current task can be expressed as: performing continuous physical interaction operations along the surface contour of the target interaction object while maintaining the set normal contact constraints.

[0126] Step 220: Analyze the current task of the target interaction object to determine the mechanical characteristic requirements of each process execution stage in the current task; In this step, the mechanical characteristic requirements refer to the set of dynamic physical indicators such as elastic compliance characteristics, viscous dissipation capacity, inertial response characteristics, and force tracking accuracy that are preset between the actuator's end effector and the contact interface in order to achieve safe and effective physical interaction with the target object during the execution of the current task.

[0127] Mechanical property requirements are used to determine the degree of compliance of a robot with external force disturbances or its ability to actively maintain the physical constraints of a target when performing specific process actions.

[0128] In actual operation, the mechanical characteristics required reflect the underlying dynamic response characteristics that the actuator should exhibit under different operating conditions.

[0129] For example, in tasks involving location triggering, the requirements may manifest as the ability to buffer and dissipate kinetic energy at the moment of contact (mainly depending on the configuration of viscous characteristic parameters), and the sensitivity of displacement resistance during the triggering process (mainly depending on the configuration of elastic characteristic parameters).

[0130] For example, in tasks involving surface processing, the requirements may manifest as the ability to maintain a constant normal force when moving along a complex contour, as well as the ability to respond to and compensate for dynamic displacement undulations in the surface.

[0131] In some embodiments, the mechanical property requirements for each stage of the same task may be consistent or inconsistent.

[0132] For example, in some continuous surface treatment tasks, the initial operation stage may focus on the fidelity of the movement trajectory and the maintenance of the basic force, while the subsequent secondary leveling stage may need to adjust the elastic or viscous characteristic parameters to change the energy exchange state between the robotic arm and actuator and the target interaction object surface, thereby extending the effective interaction time and improving the operation precision.

[0133] In some embodiments, the mechanical property requirements of each process execution stage may be the same or different in different tasks; For example, there are significant physical differences in the magnitude of elastic characteristic parameters and response rate requirements in the underlying dynamic response model between triggering operations on hard surfaces with strong resistance to deformation (such as interactive terminals) and clamping operations on flexible surfaces that are prone to deformation (such as workpieces to be picked up).

[0134] In some embodiments, step 220 includes at least one of the following: When the target interaction object is the object to be picked up, the mechanical characteristics requirements for the grasping stage of the object to be picked up are determined as follows: the posture compliance requirement when grasping the object to be picked up, and the force locking and maintenance requirement after the grasping action is completed and the clamping state is established. When the target interaction object is an interactive terminal, the mechanical characteristic requirements for the touch phase of the target interaction object are determined as follows: the fitting and conforming requirements when contacting the interactive terminal, and the contact force maintenance requirements when performing the touch trigger action. When the target interaction object is the object to be coated, the mechanical characteristics requirements for the coating stage of the target interaction object are determined as follows: the force maintenance requirement when performing coating motion along the surface of the object to be coated, and the displacement dynamic compensation requirement when conforming to the surface contour undulation.

[0135] In this embodiment, the mechanical characteristic requirements of each process execution stage refer to the expected force state and displacement response criteria that need to be met when the robot performs different work steps in order to match different physical contact environments, so that the actuator (or the work tool mounted on the actuator) can accurately achieve the specific process purpose without producing destructive hard collisions when contacting target interactive objects with different stiffness.

[0136] In some embodiments, the semantic parsing module extracts process tags (such as "clamping", "pressing", "applying", etc.) from the current job task script, and combines them with the target interactive object attributes identified by the sensor to perform feature matching in a preset process knowledge base, thereby retrieving and establishing the specific mechanical property requirements corresponding to the current stage.

[0137] Based on the mechanical characteristics requirements established by the target interaction object and the technological stage of the operation, the robot controls the robotic arm and actuators to complete the corresponding physical interaction actions.

[0138] When the target interaction object is the object to be picked up, when the actuator intervenes and contacts the workpiece, the controller in the robot will control the actuator to reduce the spatial pose constraint in response to the posture conformation requirement, allowing the actuator to make fine displacement adjustments after being subjected to force, thereby conforming to the shape contour of the workpiece; after the force feedback confirms that an effective grip has been established, the controller will then control the actuator to increase the physical resistance in the corresponding dimension in response to the force locking and maintenance requirement, maintain the closed constraint state, and prevent the workpiece from slipping during the subsequent spatial transfer driven by the robotic arm.

[0139] When the target interaction object is an interaction terminal, at the moment the actuator approaches and contacts the target surface, the controller in the robot controls the actuator to enhance the local physical compliance in response to the conformation requirement, buffering and dissipating the mechanical impact during the contact process; subsequently, the controller controls the actuator to enter a constant force state in response to the contact force holding requirement, so that the output force is stabilized within the effective trigger range and below the safe deformation threshold of the target interaction object.

[0140] When the target interaction object is the workpiece, as the actuator moves along the workpiece surface, the controller in the robot controls the running trajectory and speed of the robotic arm and actuator in the tangential direction, and maintains the required normal response force, controlling the actuator to output a constant surface clamping force. When the contact force deviation is caused by the undulation of the workpiece surface, the controller further converts the force feedback deviation into a normal spatial displacement adjustment command, controlling the robotic arm and actuator to perform dynamic displacement compensation to adapt to the contour changes of the processed surface.

[0141] Step 230: Based on the mechanical characteristics requirements, configure the dynamic response model corresponding to the target interactive object; In this step, the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters; In this embodiment, the inertial characteristic parameter refers to a physical reference quantity in the dynamic response model that characterizes the hysteresis effect of the system in response to changes in motion state. It is mainly used to reflect the inherent response characteristics of the actuator when it generates spatial acceleration under dynamic force conditions. The value of this parameter is related to the agility or sluggishness of the system's action response to changes in external contact force.

[0142] Viscous characteristic parameters are physical reference quantities in dynamic response models that characterize the kinetic energy dissipation effect of a system during spatial motion. They are usually related to the motion velocity of the actuator (such as linear velocity or angular velocity) and are used to simulate the sluggishness characteristics of the system in resisting sudden motion changes during dynamic interaction, which helps to reduce the risk of trajectory overshoot or mechanical oscillation during contact processes.

[0143] Elastic characteristic parameters are physical reference quantities in dynamic response models that characterize the system's ability to resist spatial position deviation and deformation recovery. They are mainly related to the spatial displacement of the actuator from the desired pose and are used to simulate the elastic recovery tendency of the system when subjected to external forces. They characterize the compliant spatial boundary at the dynamic interface where the system yields to adapt to surface undulations.

[0144] In actual implementation, when the target interactive object is an interactive terminal, the inertial characteristic parameter can be configured to 0.5kg to 2kg, the viscous characteristic parameter to 50Ns / m to 200Ns / m, and the elastic characteristic parameter to 50N / m to 300N / m, based on the mechanical characteristic requirements of the target interactive object during the touch stage.

[0145] When the target interaction object is the object to be picked up, the inertial characteristic parameter can be configured to 1kg to 5kg, the viscous characteristic parameter to 100Ns / m to 500Ns / m, and the elastic characteristic parameter to 500N / m to 2000N / m, according to the mechanical characteristic requirements of the object to be picked up during the grasping stage.

[0146] When the target interactive object is the object to be worked on, based on the mechanical property requirements of the target interactive object during the coating stage, the inertial property parameter can be configured to 5kg to 15kg, the viscous property parameter to 800Ns / m to 2000Ns / m, and the elastic property parameter to 0N / m to 100N / m.

[0147] In some embodiments, step 230 includes: Obtain the physical interaction characteristics of the target interactive object; Based on the physical interaction characteristics and mechanical properties of the target interactive object, configure the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters in the dynamic response model.

[0148] In this embodiment, the controller in the robot comprehensively evaluates the physical interaction characteristics of the target interactive object, such as its material and shape, as well as the mechanical property requirements of different process stages, and performs targeted magnitude adjustment and coordinated combination of the three parameters in the above-mentioned dynamic response model.

[0149] For example, when the target interactive object is an interactive terminal and a point-and-click operation is performed, since the terminal panel usually has a high resistance to deformation, in order to eliminate mechanical impact and safely maintain triggering force at the moment the actuator contacts the terminal, the controller in the robot is usually configured with a relatively high viscosity characteristic parameter to enhance the absorption and dissipation of kinetic energy, and the elastic characteristic parameter is configured in a relatively low or moderate range so that the actuator exhibits high contact compliance.

[0150] When the target interaction object is the object to be coated and a continuous coating operation is performed, in order to maintain a constant normal clamping force and adapt to the surface contour, the controller in the robot is usually configured with relatively balanced elastic and viscous characteristic parameters. Compared to the initial stage of point-contact operation, the elastic characteristic parameters during the coating process are usually set at a relatively higher order of magnitude, so that there is a stable and continuous adhesion resistance between the coating tool and the workpiece surface.

[0151] When the target interaction object is the object to be picked up and the grasping operation is performed, the controller in the robot usually adjusts the elastic characteristic parameter to a lower level in the early stage of the grasping action to meet the posture conformity requirements of the workpiece shape. After the force sensing confirms that an effective gripping state has been established, the controller usually significantly increases the elastic characteristic parameter to provide a strong torque locking constraint, and simultaneously increases the configuration benchmark of the inertial characteristic parameter so that the robotic arm and actuator can effectively resist the dynamic disturbances caused by changes in external acceleration during the subsequent high-speed spatial transfer process.

[0152] It should be noted that the specific values ​​and relative magnitudes of the parameters in the above dynamic response model are not absolutely fixed constants, but are dynamically related according to the specific working conditions and physical interaction characteristics: when the process execution tends to enhance the system's spatial disturbance resistance and mechanical constraint maintenance capabilities, the setting benchmarks of elastic characteristic parameters or inertial characteristic parameters are usually at a higher level; conversely, when the process execution tends to enhance the system's yielding and collision buffering capabilities, the configuration weight of viscous characteristic parameters is often increased accordingly, while the magnitude of elastic characteristic parameters is usually reduced.

[0153] In other embodiments, physical interaction features may also include geometric topological features of the surface of the target interactive object.

[0154] In actual execution, when the geometric topological features are characterized as regions of abrupt curvature change (such as bends or protrusions on the surface of a workpiece), the controller in the robot reduces the elastic characteristic parameters and increases the viscous characteristic parameters to improve the transient compliance and energy absorption buffering effect of the actuator. When the geometric topological features are characterized as a flat region, the controller in the robot increases the elastic characteristic parameters to maintain the preset interaction state or trajectory following accuracy of the actuator when interacting with the surface.

[0155] Step 240: Control the robotic arm and actuator based on the dynamic response model.

[0156] In this step, the dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters.

[0157] In actual operation, the controller in the robot resolves the dynamic response model into specific kinematic and dynamic control commands, driving the robotic arm and actuators to perform physical interaction actions that match the current task. To adapt to the needs of various operation scenarios, the controller in the robot implements differentiated control strategies based on the process attributes and interaction depth of the target interactive object, in order to couple the compliance characteristics brought by the dynamic response model in real time during spatial movement.

[0158] The control strategy is used to control the actuator to complete the entire process of approaching the target interactive object, establishing physical contact, outputting the target force, and performing subsequent tasks or detaching from the target interactive object.

[0159] For example, for point-touch operations, the controller in the robot uses a dynamic response model to control the robotic arm and actuator to make compliant contact with the target position, and controls the actuator to disengage from the interactive terminal after the actual contact force reaches the target point-touch force; For grasping operations, the controller in the robot uses a dynamic response model to control the joints of the actuator to adaptively engage in order to stabilize and fix the object to be picked up. For coating operations, the controller in the robot uses a dynamic response model to control the actuator to move along the surface of the object to be coated while maintaining the target coating force, and dynamically adjusts the operating speed of the actuator and the above parameters according to different operation stages.

[0160] Thus, the controller in the robot calls and parses the dynamic response model to drive the robotic arm and actuators to complete physical tasks adapted to various target interaction objects.

[0161] In some embodiments, when the target interaction object is an interactive terminal, step 240 includes: Control the robotic arm and actuator to move above the target touch position on the interactive terminal; Based on the target point contact force and dynamic response model, the actuator is controlled to contact the target point position along the first direction to perform the point contact operation; After completing the touch operation, the actuator disengages from the interactive terminal in a direction opposite to the first direction.

[0162] In this embodiment, the target point contact force refers to the pressure setting value required to trigger the interactive area set on the interactive terminal and cause it to generate an effective electrical signal or mechanical response.

[0163] The target touch position refers to the specific physical coordinate area on the surface of the interactive terminal used to receive external pressing commands, such as a specific virtual button area on a touch screen or the center position of a mechanical button on a physical test panel.

[0164] In some embodiments, the target point touch force can be determined based on the physical material, trigger sensitivity, and structural damage threshold of the target interactive object's physical interaction characteristics.

[0165] For example, for capacitive touch screens with highly sensitive and brittle glass materials, the target point touch force can be set to 0.5N to achieve light touch triggering and prevent damage to the screen panel; For example, for a physical mechanical emergency stop button with a high-damping spring, the target contact force can be set to 15N to overcome mechanical resistance and ensure effective closure of the internal contacts.

[0166] The controller in the robot first activates the vision sensing module to scan the worktable and identify feature markers on the interactive terminal (such as screen reference points or designated icons), thereby calculating the precise three-dimensional position and orientation of the target touch point in the robot's base coordinate system.

[0167] Subsequently, the controller in the robot drives the robotic arm to move, bringing the actuator to a safe height above the target contact position.

[0168] Then, the controller in the robot controls the actuator to approach downwards along the first direction; during the approach and contact process, the controller in the robot uses the target point contact force and dynamic response model to control the actuator to contact the target point position to perform the point contact operation.

[0169] During the touch operation, the controller in the robot continuously confirms the force feedback through the force sensor and simultaneously monitors whether the preset touch completion conditions are met (e.g., the actual contact force is stable at the target touch force, or a valid trigger electrical signal is received from the interactive terminal).

[0170] Once the touch operation is determined to be complete, the controller in the robot controls the actuator to lift in the opposite direction to the first direction, so that it is detached from the interactive terminal and returns to a safe height. At the same time, the system state machine jumps to the next test sequence or resets.

[0171] In some embodiments, when the target interaction object is the object to be picked up, step 240 includes: Control the robotic arm and actuator to move to the position of the object to be picked up, and retrieve the joint angle parameters corresponding to the object to be picked up; Based on the joint angle parameters, the actuator's joints are adaptively engaged to fix the object to be picked up and simultaneously monitor the contact force parameters. When the contact force parameter meets the set target grasping force, maintain the current force and determine that the pickup is complete.

[0172] In this embodiment, the object to be picked up can be an irregularly shaped workpiece, a precision component, or a work tool that needs to be dynamically replaced (such as a probe, a screwdriver, etc.) in an industrial setting.

[0173] Joint angle parameters refer to the spatial configuration and motion sequence parameters of the actuator (such as a multi-finger dexterous hand or a multi-degree-of-freedom gripper) on each active joint for different shapes and sizes of objects to be picked up.

[0174] The target gripping force refers to the contact force setting reference value that is below the physical deformation safety threshold of the object, in order to enable the actuator to maintain a stable gripping state on the object.

[0175] In some embodiments, the target grasping force can be determined based on the physical interaction characteristics of the object to be picked up (such as material compressive strength and surface friction coefficient) and the expected spatial transfer motion state (such as transport acceleration).

[0176] For example, when the object to be picked up is a thin-walled precision component with a low compressive strength threshold (such as a thin-walled metal tube or a flexible circuit board), the target gripping force can be set to a low flexible clamping value (e.g., 2N) to prevent structural crushing or irreversible deformation. For example, when the object to be picked up is a large solid metal workpiece, and a high acceleration and deceleration transport trajectory is required, the target gripping force can be set to a high rigidity locking value (e.g., 40N) to overcome dynamic inertia disturbances and prevent the workpiece from slipping.

[0177] In actual execution, when a grasping operation instruction is received (such as a process flow signal on the production line or a tool change request), the controller in the robot first activates the vision sensing module to scan the worktable or material area, identify the feature marks or outlines on the object to be picked up (such as the workpiece body or tool handle), and thus calculate the precise three-dimensional position and posture of the object to be picked up in the robot's base coordinate system.

[0178] Subsequently, the controller in the robot retrieves a dedicated parameter package that matches the object to be picked up from a preset process database based on the recognition results. This parameter package contains the aforementioned joint angle parameter sequence and the corresponding target grasping force threshold.

[0179] Then, the controller in the robot drives the robotic arm to move, causing the actuator to move to a safe approach point above or to the side of the object to be picked up. During this process, the controller prioritizes controlling the actuator to perform initial pose adjustments based on joint angle parameters (e.g., pre-matching the opening of fingers or the width of the gripper).

[0180] As the actuator approaches the object to be picked up, the controller in the robot, based on the dynamic response model and joint angle parameters, controls each joint of the actuator to perform continuous adaptive latching actions such as "finger-tip approach, multi-point surface envelope, and force-closed locking". By introducing the dynamic response model, the mechanical impact of the initial rigid contact can be effectively buffered, and the actuator can conform to the irregular surface of the workpiece.

[0181] During the adaptive locking action, the robot's controller synchronously monitors the contact force parameters at each contact point through force sensors distributed on the actuators. When the contact force parameters are detected to be stable and meet the set target grasping force, it indicates that an effective and stable physical constraint state has been established. At this time, the robot's controller controls the actuators to maintain the current force-locked state, determines that the current picking action is complete, and jumps the system's task state machine to the next spatial transfer or assembly operation process.

[0182] According to the robot provided in this application embodiment, the joints of the actuator are adaptively engaged by retrieving the joint angle parameters corresponding to the object to be picked up, and the contact force parameters are monitored simultaneously during the object fixation process until the set target grasping force is met, at which point the current force is maintained. Through the coordinated control of the above steps, the robot achieves reliability and safety in the grasping process by dynamically adjusting the joint pose during the picking operation, thereby improving the quality of automated operations and enhancing the user experience.

[0183] In some embodiments, when the target interaction object is a task to be performed, step 240 includes: The actuator is controlled to pick up paint based on the coating process command; After the actuator picks up the paint, based on the dynamic response model, the actuator performs the coating operation along the surface of the object to be coated while maintaining the target coating force.

[0184] In this embodiment, the coating process instruction refers to the system-level control signal that triggers the robot to perform surface physical processing or fluid material coating tasks. Its content typically includes process parameters such as the target working trajectory, the desired coating thickness, the preset running speed, and the target coating force.

[0185] The target coating force refers to the normal contact force setting value required to ensure that the coating adheres evenly to the surface of the object to be coated and meets the preset coating thickness process requirements.

[0186] In some embodiments, the target coating force can be determined based on the surface rigidity of the object to be coated, the rheological properties of the coating, and the coating speed.

[0187] For example, when the object to be coated is a precision electronic component (such as a chip surface or a flexible circuit board) and the coating is thermally conductive silicone grease, in order to achieve uniform coverage with a micron-level thickness and prevent damage to the electronic structure, the target coating force can be set to 1N to 3N (such as 2N). For example, when the object to be worked on is an automotive body panel and a surface sealant application is being performed, in order to overcome the processing deviations of the metal surface and to ensure that the sealant is pressure-impregnated, the target application force can be set to 10N to 30N (e.g., 20N).

[0188] In actual operation, the controller in the robot controls the robotic arm to move the actuators closer to the object to be worked on. When the preset contact state or position depth is reached, the controller activates the dynamic response model and introduces compliant control logic based on elastic characteristic parameters, viscous characteristic parameters, and inertial characteristic parameters.

[0189] During the interaction, the controller in the robot is configured with a lower elastic characteristic parameter to improve displacement compliance for the surface features of the object to be worked on (such as curved surface coverings), so that the actuator can adapt to the surface undulations and establish safe flexible contact.

[0190] Meanwhile, the controller is configured with corresponding viscous characteristic parameters to buffer mechanical vibrations during the sliding process and improve the smoothness of the working trajectory.

[0191] In addition, the controller in the robot can configure inertial characteristic parameters based on the physical mass of the working tool currently mounted on the actuator to compensate for the disturbance of the tool's motion inertia on the accuracy of the contact force.

[0192] Based on the above control mechanism, when the actuator encounters a sudden change in surface profile or local resistance, the viscous characteristic parameters are used to dissipate contact kinetic energy and reduce the risk of stress overload at the contact point. When the actuator crosses complex curved transition areas (such as sheet metal corners or irregular arc surfaces), the elastic characteristic parameters enable the actuator to output dynamic displacement compensation, thereby maintaining the required surface clamping state and the expected coating distribution.

[0193] In some embodiments, controlling the actuator to pick up paint based on coating process instructions includes: While controlling the robotic arm and actuator to move above the coating, the target force is applied to contact the coating. Based on the target retrieval trajectory, the movement of the robotic arm and actuator is controlled to retrieve the paint.

[0194] In this embodiment, the coating material can be a semi-solid paste, powder, or high-viscosity fluid (such as thermal grease, polishing paste, etc.) stored in a storage container or on a feeding platform.

[0195] The target contact force refers to the threshold of normal contact force required to effectively contact the coating surface while avoiding damage to the underlying material supply container; In some embodiments, the target force is dynamically configured based on the strength of the feed container and the viscosity of the material.

[0196] For example, when the coating is a low-viscosity liquid adhesive or diluted polishing liquid, in order to avoid ineffective wear between the actuator end (such as a brush or sponge head) and the bottom of the container, the target picking force can be set to a low contact value, such as 1.5N; For example, when the coating is a high-viscosity semi-solid grinding paste or a thick sealant, in order to overcome the initial yield stress on the material surface and adsorb a sufficient amount of coating, the target force can be set to a higher indentation value, such as 8N to 12N (e.g., 10N).

[0197] The target picking trajectory refers to the pre-planned spatial movement path of the actuator end (such as a spiral trajectory or a reciprocating scraping trajectory) in order to achieve a uniform and sufficient amount of material picked up in a single operation.

[0198] In actual operation, the controller in the robot performs closed-loop control of the paint dispensing process based on the internal Task State Machine.

[0199] When the start signal of the current coating subtask is received, or when the material replenishment signal is received from the material balance monitoring module, the material handling control process is triggered.

[0200] Once the triggering conditions are met, the controller in the robot drives the robotic arm to move, causing the actuator to move directly above the storage container or feeding platform.

[0201] Then, the controller in the robot controls the actuator to approach downward along the normal direction and smoothly contact the surface of the coating with a set target force (such as 1.5N or 10N in the previous embodiment).

[0202] While maintaining the target picking force to achieve flexible contact, the controller in the robot further controls the robotic arm and actuator to perform corresponding spatial sliding movements based on the target picking trajectory (such as a spiral trajectory or a reciprocating scraping trajectory) in order to pick up the paint.

[0203] When the target acquisition trajectory is completed and the termination condition is met, the controller in the robot controls the robotic arm to lift up, driving the actuator to retract to a safe height, and the system's task state machine to switch to the subsequent surface coating operation execution state.

[0204] According to the robot provided in the embodiments of this application, by picking up the coating material based on the target picking force and picking trajectory during the picking stage, the robot achieves fully automatic material replenishment and sufficient and uniform picking, which meets the process requirements of unmanned continuous coating. In conjunction with the dynamic response model, the robot maintains the target coating force during the coating process, and achieves constant pressure compliance and trajectory smoothing of the actuator on complex curved surfaces, thereby improving the quality of automated operation and enhancing the user experience.

[0205] In some embodiments, based on a dynamic response model, controlling the actuator to perform a coating operation along the surface of the object to be coated while maintaining the target coating force includes: In the first operation phase, the actuator is controlled to perform coating operations along the surface of the object to be coated based on the first operating speed and the parameters at the first parameter value in the dynamic response model. After the first operation phase is completed, the actuator's operating speed is reduced to the second operating speed, and the first parameter value is adjusted to the second parameter value; In the second operation phase, the actuator is controlled based on the second operating speed and the parameter value at the second parameter value, and the interaction time is extended to perform the coating operation.

[0206] In this embodiment, the parameters at the first parameter value include at least one of the following: inertial characteristic parameter, viscous characteristic parameter, and elastic characteristic parameter; The parameters that are in the second parameter value include at least one of the following: inertial property parameters, viscous property parameters, and elastic property parameters.

[0207] The first operational phase corresponds to the basic distribution process of materials.

[0208] The second stage corresponds to the process of refining the already distributed materials.

[0209] In some embodiments, the target coating force may include: a first sub-target coating force corresponding to a first working stage and a second sub-target coating force corresponding to a second working stage.

[0210] In this embodiment, the first sub-target coating force and the second sub-target coating force correspond to the force setting range of different process stages. For example, the first sub-target coating force can be configured to adapt to the force benchmark of the basic coating process to complete the initial spreading of the material; the second sub-target coating force can be adjusted according to the surface flatness requirements to guide the actuator to complete the fine processing at a lower operating speed.

[0211] In actual execution, the controller in the robot drives the robotic arm and actuators to perform the task in the following stages: In the first operation phase, the controller in the robot drives the actuator to move along the basic motion trajectory at a first operating speed. During this period, by configuring lower elastic characteristic parameters, the actuator exhibits good displacement compliance, thereby completing the basic coverage of the material on the surface of the object to be worked on under the action of the first sub-target coating force.

[0212] After completing the first stage of operation, if the material consumption reaches a preset threshold or the process logic determines that replenishment is needed, an automatic replenishment process is triggered. The controller in the robot drives the actuator to leave the object to be worked on, move to the feeding station or storage container, and perform the material picking action as provided in the aforementioned embodiment, so that the working tool at the end of the actuator can obtain an appropriate amount of paint again.

[0213] In the second phase of the operation, the controller in the robot drives the actuator back to the work area. At this time, the controller reduces the operating speed to a second operating speed and adjusts the parameters in the dynamic response model to the second parameter value (e.g., appropriately adjusting the viscosity characteristic parameters to suppress minor vibrations). By extending the interaction time between the actuator and the surface of the object to be worked on, the coated material is deeply smoothed and modified to improve the uniformity of the coating and reduce the risk of material accumulation.

[0214] In some embodiments, after step 240, the method further includes: Acquire image data of the work area on the object to be worked on, and perform quality analysis on the surface image data to calculate the work quality score; If the work quality score is lower than the quality qualification threshold, the dynamic response model parameters corresponding to the local repair process are retrieved, and the actuator is controlled to perform the coating repair operation along the local repair trajectory.

[0215] In this embodiment, the image data of the working area may include, but is not limited to, the reflectivity characteristics, color distribution, geometric contours, and texture information of the coating.

[0216] In some embodiments, the controller in the robot analyzes the surface image data using a preset image processing algorithm (such as a machine vision-based feature extraction algorithm or a visual recognition model) to quantify and extract various process indicators.

[0217] In this embodiment, the process indicators may include: coating optical feature uniformity (e.g., the numerical difference between the reflection features or grayscale distribution of the current working area and the reference coating features), area coverage integrity (e.g., the pixel ratio of areas not covered by paint or with too shallow coating thickness in the overall target area), and geometric boundary regularity (e.g., the spatial positional deviation between the actual coating edge and the preset target contour).

[0218] In some embodiments, the parameters of the dynamic response model corresponding to the local repair process may differ from the parameter configuration of the conventional large-area coating stage.

[0219] For example, to accommodate the finer movements required for local repairs, the parameters for local repairs can be configured to have higher viscosity parameters to suppress end jitter, while also having lower elasticity parameters and a smaller target repair force, in order to reduce the risk of squeezing or damaging the surrounding qualified coating when repairing local defects.

[0220] In actual operation, after completing the routine coating work, the controller in the robot controls the robotic arm to move to the preset observation position to reduce the occurrence of mechanical structures obstructing the field of view of the visual sensing module.

[0221] Subsequently, the vision sensing module acquires image data of the work area on the object to be worked on. The controller in the robot analyzes the surface image data using a preset image processing algorithm (such as a machine vision-based feature extraction algorithm or a visual recognition model) to quantify and extract various process indicators.

[0222] In some embodiments, the controller in the robot can configure corresponding weighting coefficients for each process indicator based on the sensitivity differences of the current coating process to different indicators or design requirements.

[0223] In actual execution, the controller performs weighted calculations (e.g., weighted summation) on the quantified process indicators and their corresponding weighting coefficients to obtain an operational quality score that comprehensively characterizes the current physical quality state of the coating.

[0224] The controller in the robot compares the calculated job quality score with the quality acceptance threshold. If the score is lower than the quality acceptance threshold, it is determined that there is a local defect in the current coating, and the completion process is triggered.

[0225] During the repair process, the controller in the robot determines the spatial coordinates of the defective sub-regions within the work area based on image data of the work area, and can generate a local repair trajectory for that region (such as a small-scale spiral filling or a reciprocating intersecting path). Subsequently, the controller retrieves the dynamic response model parameters corresponding to the aforementioned local repair process and controls the actuator to perform the local coating repair operation along the trajectory.

[0226] After repair, the controller in the robot can control the system to repeat the above steps of acquiring and analyzing surface image data for re-inspection. This inspection and repair process can be executed cyclically until the job quality score reaches the quality pass threshold, or until the set maximum number of retries is reached to reduce the probability of the control flow getting stuck in an infinite loop.

[0227] Once the work quality score reaches the preset qualified threshold and the current coating work is determined to be completed, the controller in the robot drives the robotic arm to move the actuator and the currently mounted work tools out of the work area and to the preset tool storage station (such as a tool quick change rack or material tank).

[0228] Subsequently, the controller in the robot controls the actuator to perform a release action (such as controlling the clamp to open or the quick-change component to unlock) to place and return the working tool to the tool storage station, thereby ending the current automated coating operation process and resetting the system state machine to wait for the next operation instruction.

[0229] According to the robot provided in the embodiments of this application, by acquiring image data of the area to be worked and performing multi-dimensional quality quantification analysis, an objective evaluation of the work quality is achieved and a comprehensive quality score is obtained; when the work quality score is lower than the threshold, the dynamic response model parameters optimized for the completion process are retrieved to perform the repair work, thereby improving the work quality of automated operations and enhancing the user experience.

[0230] In some embodiments, controlling the robotic arm and actuator based on a dynamic response model further includes: The first displacement compensation amount is determined based on the pose change of the target interactive object. Based on the force error between the actual interaction force and the target force, the second displacement compensation amount is calculated using at least one of the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters. The first displacement compensation and the second displacement compensation are superimposed on the basic motion trajectory to synthesize the target operation pose command; The robotic arm and actuators are driven to perform actions according to the target work posture instructions to meet the mechanical characteristics requirements.

[0231] In this embodiment, the first displacement compensation amount refers to the predictive correction value obtained based on visual feedback, used to compensate for the motion deviation of the target interactive object.

[0232] The second displacement compensation is the force-controlled virtual displacement calculated from the dynamic response model.

[0233] In this embodiment, the determination of the first displacement compensation amount and the second displacement compensation amount, the superposition of the first displacement compensation amount, the second displacement compensation amount and the basic motion trajectory, and the process of synthesizing the target operation posture command have been described in detail above and will not be repeated here.

[0234] The following describes the operation process when the target interaction object is an interactive terminal, an object to be picked up, or an object to be operated on.

[0235] When the target interaction object is an interactive terminal: if the interactive terminal experiences a physical position shift during the test, the controller in the robot obtains its pose change through visual feedback and calculates the first displacement compensation amount used to follow the movement of the device.

[0236] Meanwhile, during the contact between the actuator and the touch device, if the actual contact force deviates from the preset point touch force threshold, the controller calculates a second displacement compensation amount to adjust the normal downward pressure depth using a dynamic response model. The controller superimposes these two compensation amounts into the basic approximation trajectory to synthesize the target operation pose command, thereby guiding the actuator to dynamically follow in real time when the interactive terminal experiences dynamic shaking, and maintaining the normal contact force within the target trigger range to reduce the risk of touch failure or damage to the screen panel.

[0237] When the target interaction object is the object to be picked up: the controller in the robot tracks the workpiece's pose change in real time through the vision sensing module and obtains the first displacement compensation amount.

[0238] During the stage when the actuator (such as a multi-finger gripper) approaches and contacts the workpiece surface, the controller uses a dynamic response model to calculate the second displacement compensation amount for achieving compliant gripping based on the error between the actual force at each contact point and the target gripping force.

[0239] By synthesizing target work pose commands that include both of the above, the controller can drive the robotic arm and actuator to dynamically follow the moving workpiece while adaptively adjusting the clamping posture, which helps to reduce the probability of irreversible deformation of the workpiece surface caused by rigid collisions or asynchronous positions.

[0240] When the target interactive object is the object to be worked on and the coating operation is performed: the controller in the robot obtains the overall spatial deviation of the object to be worked on due to platform movement or small positioning errors through visual feedback, and generates the first displacement compensation amount for macroscopic trajectory correction.

[0241] Meanwhile, during continuous coating operations, the controller in the robot compares the actual feedback force obtained by the force sensor with the target coating force in real time, and uses the dynamic response model (i.e., using inertial characteristic parameters, viscous characteristic parameters and elastic characteristic parameters) to convert the force deviation into a second displacement compensation amount.

[0242] The controller superimposes the first and second displacement compensation values ​​onto the basic coating motion trajectory to synthesize the target work pose command. Based on this command, the system adjusts the spatial pose of the robotic arm and actuator. While tracking the overall macroscopic movement of the workpiece, the system can perform normal fine-tuning on the local curvature undulations of the surface, thereby controlling the normal contact force within the set target range to improve the uniformity and consistency of the surface coating under dynamic conditions.

[0243] The robot control method executed by the controller in the robot provided in this application embodiment can also be executed by a robot control device. This application embodiment uses the execution of the robot control method by a robot control device as an example to illustrate the robot control device provided in this application embodiment.

[0244] This application also provides a robot control device.

[0245] like Figure 3 As shown, the robot control device includes: a first processing module 310, a second processing module 320, a third processing module 330, and a fourth processing module 340.

[0246] The first processing module 310 is used to obtain the current job task of the target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be assigned. The second processing module 320 is used to parse the current task of the target interactive object in order to determine the mechanical characteristic requirements of each process execution stage in the current task. The third processing module 330 is used to configure the dynamic response model corresponding to the target interactive object based on the mechanical property requirements; the dynamic response model is constructed from inertial property parameters, viscous property parameters and elastic property parameters; The fourth processing module 340 is used to control the robotic arm and actuators based on the dynamic response model.

[0247] According to the robot control device provided in the embodiments of this application, the mechanical characteristic requirements of each process execution stage are determined by analyzing the current task of the target interactive object, and a dynamic response model constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters is configured to control the robotic arm and actuator. Through the dynamic coordination of the above parameters, the robot achieves smooth conformation to surface undulations, smooth buffering of contact impacts, and inertial following of sudden force changes when performing interactive operations. This enhances the robot's smooth interaction capability in complex operation processes, thereby improving the quality of automated operations and enhancing the user experience.

[0248] In some embodiments, the third processing module 330 can also be used for: Obtain the physical interaction characteristics of the target interactive object; Based on the physical interaction characteristics and mechanical properties of the target interactive object, configure the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters in the dynamic response model.

[0249] In some embodiments, when the target interaction object is an interactive terminal, the fourth processing module 340 can also be used to: Control the robotic arm and actuator to move above the target touch position on the interactive terminal; Based on the target point contact force and dynamic response model, the actuator is controlled to contact the target point position along the first direction to perform the point contact operation; After completing the touch operation, the actuator disengages from the interactive terminal in a direction opposite to the first direction.

[0250] In some embodiments, when the target interaction object is an object to be picked up, the fourth processing module 340 can also be used to: Control the robotic arm and actuator to move to the position of the object to be picked up, and retrieve the joint angle parameters corresponding to the object to be picked up; Based on the joint angle parameters, the actuator's joints are adaptively engaged to fix the object to be picked up and simultaneously monitor the contact force parameters. When the contact force parameter meets the set target grasping force, maintain the current force and determine that the pickup is complete.

[0251] In some embodiments, when the target interaction object is a task object, the fourth processing module 340 can also be used to: The actuator is controlled to pick up paint based on the coating process command; After the actuator picks up the paint, based on the dynamic response model, the actuator performs the coating operation along the surface of the object to be coated while maintaining the target coating force.

[0252] In some embodiments, when the target interaction object is a task object, the fourth processing module 340 can also be used to: While controlling the robotic arm and actuator to move above the coating, the target force is applied to contact the coating. Based on the target retrieval trajectory, the movement of the robotic arm and actuator is controlled to retrieve the paint.

[0253] In some embodiments, when the target interaction object is a task object, the fourth processing module 340 can also be used to: In the first operation phase, the actuator is controlled to perform a coating operation along the surface of the object to be coated based on the first operating speed and the parameters at the first parameter value in the dynamic response model; wherein, the parameters at the first parameter value include at least one of: inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters; After the first operation phase is completed, the actuator's operating speed is reduced to the second operating speed, and the first parameter value is adjusted to the second parameter value; In the second operation phase, the actuator is controlled based on the second operating speed and the parameters at the second parameter value, and the interaction time is extended to perform the coating operation; wherein, the parameters at the second parameter value include at least one of the following: inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters.

[0254] In some embodiments, when the target interaction object is a task object, the fourth processing module 340 can also be used to: Based on the dynamic response model, after the actuator performs the coating operation along the surface of the object to be coated while maintaining the target coating force, the process includes: Acquire image data of the work area on the object to be worked on, and perform quality analysis on the surface image data to calculate the work quality score; If the work quality score is lower than the quality qualification threshold, the dynamic response model parameters corresponding to the local repair process are retrieved, and the actuator is controlled to perform the coating repair operation along the local repair trajectory.

[0255] In some embodiments, the fourth processing module 340 can also be used for: The first displacement compensation amount is determined based on the pose change of the target interactive object. Based on the force error between the actual interaction force and the target force, the second displacement compensation amount is calculated using at least one of the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters. The first displacement compensation and the second displacement compensation are superimposed on the basic motion trajectory to synthesize the target operation pose command; The robotic arm and actuators are driven to perform actions according to the target work posture instructions in order to achieve the mechanical characteristics requirements.

[0256] The robot control device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific implementation.

[0257] The robot control device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0258] The robot control device provided in this application embodiment can achieve... Figures 1 to 2 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0259] In some embodiments, such as Figure 4 As shown, this application embodiment also provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, it implements the various processes of the robot control method embodiment executed by the controller in the above-mentioned robot, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0260] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0261] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the robot control method embodiment executed by the controller in the above-described robot and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0262] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0263] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the robot control method embodiment executed by the controller in the above-described robot, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0264] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0265] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0266] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0267] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0268] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0269] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that, include: A robotic arm and an actuator disposed at the end of the robotic arm; The controller is electrically connected to both the robotic arm and the actuator, and is used to perform the following: Obtain the current task of the target interactive object; the target interactive object includes an interactive terminal, an object to be picked up, or an object to be assigned a task. The current task of the target interactive object is analyzed to determine the mechanical characteristic requirements of each process execution stage in the current task. Based on the aforementioned mechanical characteristic requirements, configure the dynamic response model corresponding to the target interactive object; The dynamic response model is constructed from inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters; The robotic arm and the actuator are controlled based on the dynamic response model.

2. The robot according to claim 1, characterized in that, The analysis targets the current task of the target interaction object to determine the mechanical characteristic requirements of each process execution stage in the current task, including at least one of the following: When the target interactive object is an interactive terminal, the mechanical characteristic requirements for the touch phase of the target interactive object are determined as follows: the conforming requirement when contacting the interactive terminal, and the contact force retention requirement when performing the touch trigger action. When the target interactive object is an object to be picked up, the mechanical characteristic requirements for the grasping stage of the object to be picked up are determined as follows: the posture compliance requirement when grasping the object to be picked up, and the force locking and maintenance requirement after the grasping action is completed and the clamping state is established. When the target interactive object is the object to be worked on, the mechanical characteristic requirements for the coating stage of the target interactive object are determined as follows: the force maintenance requirement when performing coating motion along the surface of the object to be worked on, and the displacement dynamic compensation requirement when conforming to the undulation of the surface contour.

3. The robot according to claim 1, characterized in that, The configuration of the dynamic response model corresponding to the target interactive object based on the aforementioned mechanical characteristic requirements includes: Obtain the physical interaction characteristics of the target interactive object; Based on the physical interaction characteristics of the target interactive object and the mechanical property requirements, configure the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters in the dynamic response model.

4. The robot according to any one of claims 1-3, characterized in that, When the target interaction object is an interactive terminal, controlling the robotic arm and the actuator based on the dynamic response model includes: Control the robotic arm and the actuator to move above the target touch position of the interactive terminal; Based on the target point contact force and the dynamic response model, the actuator is controlled to contact the target point contact position along the first direction to perform the point contact operation; After completing the touch operation, the actuator is controlled to detach from the interactive terminal in a direction opposite to the first direction.

5. The robot according to any one of claims 1-3, characterized in that, When the target interaction object is an object to be picked up, controlling the robotic arm and the actuator based on the dynamic response model includes: Control the robotic arm and the actuator to move to the position of the object to be picked up, and retrieve the joint angle parameters corresponding to the object to be picked up; Based on the joint angle parameters, the actuator's joints are controlled to adaptively engage in order to fix the object to be picked up and simultaneously monitor the contact force parameters. When the contact force parameter meets the set target grasping force, maintain the current force and determine that the pickup is complete.

6. The robot according to any one of claims 1-3, characterized in that, When the target interaction object is the object to be worked on, controlling the robotic arm and the actuator based on the dynamic response model includes: The actuator is controlled to pick up paint based on the coating process instructions; After the actuator is controlled to pick up the paint, based on the dynamic response model, the actuator is controlled to perform the coating operation along the surface of the object to be coated while maintaining the target coating force.

7. The robot according to claim 6, characterized in that, The method of controlling the actuator to pick up paint based on coating process instructions includes: While controlling the robotic arm and the actuator to move above the coating material, the robotic arm and the actuator make contact with the coating material based on the target pick-up force. Based on the target retrieval trajectory, the movement of the robotic arm and the actuator is controlled to retrieve the paint.

8. The robot according to claim 6, characterized in that, The step of controlling the actuator to perform a coating operation along the surface of the object to be coated while maintaining the target coating force, based on the dynamic response model, includes: In the first operation phase, the actuator is controlled to perform a coating operation along the surface of the object to be coated based on a first operating speed and a parameter at a first parameter value in the dynamic response model; wherein, the parameter at the first parameter value includes at least one of: inertial characteristic parameter, viscous characteristic parameter, and elastic characteristic parameter; After the first operation phase is completed, the operating speed of the actuator is reduced to the second operating speed, and the first parameter value is adjusted to the second parameter value; In the second operation phase, the actuator is controlled based on the second operating speed and the parameter at the second parameter value, and the interaction time is extended to perform the coating operation; wherein, the parameter at the second parameter value includes at least one of: inertial characteristic parameter, viscous characteristic parameter and elastic characteristic parameter.

9. The robot according to claim 6, characterized in that, After controlling the actuator to perform a coating operation along the surface of the object to be coated while maintaining the target coating force, based on the dynamic response model, the process includes: Image data of the work area on the object to be worked on is acquired, and the surface image data is analyzed to calculate the work quality score; If the quality score of the operation is lower than the quality qualification threshold, the dynamic response model parameters corresponding to the local repair process are retrieved, and the actuator is controlled to perform the coating repair operation along the local repair trajectory.

10. The robot according to any one of claims 1-3, characterized in that, The control of the robotic arm and the actuator based on the dynamic response model includes: The first displacement compensation amount is determined based on the pose change of the target interactive object; Based on the force error between the actual interaction force and the target force, the second displacement compensation amount is calculated using at least one of the inertial characteristic parameters, viscous characteristic parameters, and elastic characteristic parameters. The first displacement compensation amount and the second displacement compensation amount are superimposed on the basic motion trajectory to synthesize the target operation pose command; The robotic arm and actuator are driven to perform actions according to the target work pose command in order to achieve the mechanical characteristic requirements.

Images