Robotic joint admittance control method, system, controller, device, and medium

Abstract

The embodiment of the application provides a kind of robot joint admittance control method, system, controller, equipment and medium, belong to control technical field, specifically include: step 1, the joint system of robot is modeled, obtains joint model, and sets the desired admittance model;Step 2, constructs two degrees of freedom controller;Step 3, according to system performance requirement, select weight parameter, and;Step 4, based on joint model and weight parameter, by spectral decomposition and polynomial equation solving, analytically calculated the transfer function of first sub-controller and second sub-controller and is substituted into control law, generates controller output, to minimize performance index.The scheme of the application simultaneously solves the tracking performance, disturbance suppression, noise suppression problem.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a method, system, controller, device and medium for controlling robot joint admittance. Background Technology

[0002] Currently, admittance control is a classic method for achieving compliant robot control and has been widely applied in scenarios involving physical interactions between robots and humans or the environment, such as wearable exoskeleton robots, surface polishing robots, and human-robot collaborative assembly. Robot systems often experience both internal and external disturbances, as well as sensor measurement noise. These factors significantly impact admittance control performance, leading to decreased control accuracy, system instability, and even divergence, threatening the safety of operators or the environment. Conventional admittance control methods cannot simultaneously address the three issues related to tracking performance (including tracking error and control saturation), disturbance suppression, and noise suppression.

[0003] It is evident that there is an urgent need for a robot joint admittance control method that can simultaneously address tracking performance, disturbance suppression, and noise suppression issues. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a robot joint admittance control method, system, controller, device and medium, which at least partially solves the problems of poor control performance, accuracy and adaptability in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a robot joint admittance control method, comprising: Step 1: Model the robot's joint system to obtain the joint model. And set the desired admittance model. ; Step 2, construct a two-degree-of-freedom controller The corresponding control law is The two-degree-of-freedom controller Including the first sub-controller Second Sub-Controller , The reference location generated by the admittance model. The joint position detected by the sensor; Step 3: Select weight parameters based on system performance requirements. , and ,in, To adjust the weights of the tracking error and the controller output, The weights used to adjust the disturbance, Weights used to adjust for noise; Step 4, based on the joint model The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

[0006] According to a specific implementation of an embodiment of the present invention, the step of modeling the robot joint system includes: Without physical contact, a sweep frequency control signal is applied to the joint, multiple sets of input-output timing data are collected, and the joint model is identified using the least squares method. Parameters, among which, joint model The expression is:

[0007] in, This refers to the actual position of the joint. This is the actual control input of the system. For Laplace variables, For inertia, For damping, For stiffness.

[0008] According to a specific implementation of an embodiment of the present invention, the admittance model The expression is

[0009] in, For the desired inertia, For desired damping, For the desired stiffness, This refers to the interaction torque between the robot's joints and the human or external environment.

[0010] According to a specific implementation of an embodiment of the present invention, step 4 specifically includes: Denominator polynomial for constructing joint model .

[0011] According to a specific implementation of an embodiment of the present invention, step 4 further includes: Solve for the first stable polynomial To make it satisfy the spectral decomposition equation: .

[0012] According to a specific implementation of an embodiment of the present invention, step 4 further includes: Solve for the second stable polynomial To make it satisfy the spectral decomposition equation: .

[0013] According to a specific implementation of an embodiment of the present invention, step 4 further includes: Solving for the stable polynomial and To make it satisfy the polynomial equation:

[0014] And satisfy It is a type 0 transfer function of order 2.

[0015] According to a specific implementation of an embodiment of the present invention, step 4 further includes: The transfer functions of the first and second sub-controllers are calculated as follows:

[0016] .

[0017] According to a specific implementation of an embodiment of the present invention, the adjustment rule of the weight parameter is as follows: When weight parameters When less than 1, follow The reduction in tracking error Reduce, two-degree-of-freedom controller output Increase; when When it is greater than 1, it follows The increase in tracking error Increase, two-degree-of-freedom controller output Decrease; When the weight parameter When the system achieves disturbance suppression performance superior to noise suppression, it obtains better disturbance suppression performance. When the system achieves noise suppression performance superior to disturbance suppression, it can achieve noise suppression performance.

[0018] According to a specific implementation of an embodiment of the present invention, the two-degree-of-freedom controller outputs... Subject to motor saturation constraints, satisfying .

[0019] In a second aspect, embodiments of the present invention provide a robot joint admittance control system, comprising: The modeling and identification module is used to model the robot's joint system and obtain joint models. And set the desired admittance model. ; A two-degree-of-freedom controller, including a first sub-controller. Second Sub-Controller The corresponding control law is ; The parameter tuning module is used to select weight parameters according to system performance requirements. , and Based on the joint model The transfer functions of the first and second sub-controllers are obtained analytically through spectral decomposition and polynomial solution. Control module for joint-based models The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

[0020] According to a specific implementation of an embodiment of the present invention, the parameter tuning module is configured to perform the following calculation process: Constructing polynomials ; Solving for the stable polynomial satisfy ; Solving for the stable polynomial satisfy ; Solving for the stable polynomial and satisfy ,and It is a type 0 transfer function of order 2; Output controller , .

[0021] Thirdly, embodiments of the present invention provide a robot joint controller that employs the method described in any of the first aspects or the system described in any of the second aspects to achieve a compliant response to external interactive forces and to suppress system disturbances and measurement noise.

[0022] Fourthly, embodiments of the present invention also provide an electronic device, the electronic device comprising: At least one processor; and, The memory is communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the robot joint admittance control method in the first aspect or any implementation thereof.

[0023] Fifthly, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the robot joint admittance control method in the first aspect or any implementation thereof.

[0024] In a sixth aspect, embodiments of the present invention also provide a computer program product, the computer program product including a computing program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the robot joint admittance control method in the first aspect or any implementation thereof.

[0025] The robot joint admittance control scheme in this embodiment of the invention includes: Step 1, modeling the robot joint system to obtain a joint model. And set the desired admittance model. Step 2: Construct a two-degree-of-freedom controller The corresponding control law is Step 3: Select weight parameters based on system performance requirements. , and ,in, To adjust the weights of the tracking error and the controller output, The weights used to adjust the disturbance, Weights for adjusting noise; Step 4, based on the joint model The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators minimize.

[0026] The beneficial effects of the embodiments of the present invention are as follows: 1. By adopting a two-degree-of-freedom control structure, the tracking, disturbance rejection, and noise reduction performance are decoupled, so that the desired position tracking is determined only by the first sub-controller, and disturbance and noise suppression are determined only by the second sub-controller, thus avoiding the mutual constraints of traditional control performance.

[0027] 2. By establishing weighted performance indices and using spectral decomposition and analytical solution of polynomial equations, the controller parameters reach theoretical optimality under given weights, achieving a balance between optimality and analytical computation.

[0028] 3. By adjusting only three scalar parameters , and This allows for a balance between tracking accuracy, interference immunity, and noise immunity, making the engineering tuning of the admittance controller simple and flexible.

[0029] 4. By decomposing the controller design into analytical steps of spectral decomposition and polynomial equations, parameter calculation can be fully automated without the need for trial and error, and has good reproducibility.

[0030] 5. By simultaneously optimizing the error and controller output in the performance indicators and considering the motor saturation constraint, the designed controller can naturally suppress actuator saturation while ensuring tracking accuracy.

[0031] 6. By incorporating the total disturbance into the performance index and suppressing it with feedback from the second sub-controller, the system maintains stability and high-precision admittance response under model error, internal and external disturbances, and measurement noise, exhibiting strong robustness.

[0032] 7. By providing a complete process from identification, analytical calculation to discretization and specific implementation parameters, those skilled in the art can directly reproduce and transfer it to different robot joints, making it industrially scalable.

[0033] 8. By setting the desired admittance parameter separately from the control regulation parameter, the desired compliant behavior and dynamic response characteristics can be designed independently, thus achieving decoupling between task-oriented and control performance-oriented approaches. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A flowchart illustrating a robot joint admittance control method provided in an embodiment of the present invention; Figure 2 A schematic diagram of a robot joint system and model provided in an embodiment of the present invention; Figure 3 A modeling and control block diagram of an admittance control system based on two-degree-of-freedom control is provided for an embodiment of the present invention; Figure 4 This is a schematic diagram of a robot joint admittance control system provided in an embodiment of the present invention; Figure 5 A schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0036] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0037] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this invention, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0039] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0040] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0041] This invention provides a robot joint admittance control method, system, controller, device, and medium. The method can be applied to the joint control process of a two-degree-of-freedom robot in admittance control scenarios.

[0042] See Figure 1 This is a flowchart illustrating a robot joint admittance control method provided in an embodiment of the present invention. Figure 1 As shown, the method mainly includes the following steps: Step 1: Model the robot's joint system to obtain the joint model. And set the desired admittance model. ; In specific implementation, according to Figure 2 Modeling the robot system. Joint models are used. It means that, among them For system inertia, For system damping, This refers to the system stiffness; when a robot joint comes into physical contact with a person or the external environment, it generates interactive torque. , measured by a force or torque sensor; For controller output, considering motor saturation, there is The angular position of the robot's joints is determined by... This is indicated by measurements taken from a joint encoder, but this often introduces measurement noise. The actual measured angle is Robotic systems often contain internal and external disturbances, which introduce model uncertainties during system modeling. We collectively categorize these factors as the total system disturbance. The system control input after the disturbance is ,Right now .

[0043] Without physical contact between the robot's joints and the human or external environment, a sweeping control signal is applied. After detection by the sensor, a corresponding set of timing signals can be obtained. By repeatedly applying the parameters, multiple sets of time-series signal datasets can be obtained. Using the least squares method to identify the input and output, the parameters of the current system can be determined. , and .

[0044] Given a desired admittance model ,in For the desired inertia, For desired damping, Let be the desired inertia. The objective of admittance control is to design a controller. This makes the error Small enough.

[0045] Step 2, construct a two-degree-of-freedom controller The corresponding control law is The two-degree-of-freedom controller Including the first sub-controller Second Sub-Controller , The reference location generated by the admittance model. () represents the joint position detected by the sensor; In practical implementation, the design is based on Figure 3 The controller. Among them, The controller contains two sub-controllers. and ,Right now Through calculation, the relationship of the position control loop can be obtained as follows:

[0046]

[0047] As can be seen from the above disclosure, the disturbance and noise For error and controller output The effect is only caused by the sub-controller To decide, after design Expected position in the future For error and controller output The effect is only borne by the sub-controller This determines the outcome. Using this method, performance characteristics such as tracking, disturbance rejection, and noise suppression can be addressed simultaneously.

[0048] It should be noted that in this method For performance analysis only; explicit use is not required in actual control laws. Its influence is through Automatic suppression.

[0049] Step 3: Select weight parameters based on system performance requirements. , and ,in, To adjust the weights of the tracking error and the controller output, The weights used to adjust the disturbance, Weights used to adjust for noise; In practical implementation, disturbances should be taken into consideration. ,noise To address controller saturation, the following metrics are designed for controller design, where, For unit step signal, For a unit pulse signal, the three performance indicators represent the input... , , Impact on the system , , These are weighting coefficients used to adjust the three performance parameters.

[0050] Step 4, based on the joint model The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

[0051] In practice,

[0052] Therefore, a controller needs to be designed. , such that in the given , , In the case of Minimum.

[0053] The steps to obtain the controller parameters are as follows: Step 1: Solving a stable polynomial using spectral decomposition , making ,in, , It is used to adjust the error and controller output The weights. It is worth noting that, under given conditions, the stable polynomial obtained through spectral decomposition... It must exist and be unique.

[0054] Step Two: Solving a stable polynomial using spectral decomposition , making ,in, It is used to regulate disturbances The weight, It is used to adjust noise The weights. It is worth noting that, under given conditions, the stable polynomial obtained through spectral decomposition... It must exist and be unique.

[0055] Step 3: Solving the stable polynomial using the Diophantine equation and , making ,and It is a type 0 transfer function of order 2. It is worth noting that, under given conditions, the stable polynomial obtained through spectral decomposition... and It must exist and be unique.

[0056] Step Four: Obtain the controller. and .

[0057] Under this design, Minimum. Controller parameter adjustment principle: If The smaller the value, the lower the control error. The smaller, but the controller output The larger, the smaller, if Greater than 1 and the larger the value, the greater the control error. The larger it is, the better the controller output. The smaller; if The system will achieve better disturbance suppression performance if this is done; otherwise, it will achieve better noise suppression performance. This can be achieved by adjusting... , and Tracking performance, disturbance suppression, and noise attenuation can be easily adjusted. In practical implementation, the settings can be fixed first. Adjust in sequence and Based on actual feedback, satisfactory disturbance and noise suppression performance is achieved, and then adjustments are made. To achieve better tracking performance.

[0058] The pseudocode for the computational controller is as follows: function two_dof_control(M, B, K, rho, lambda, k) / / Get the parameters of a(s) a = [M, B, K] / / Calculate d_rho using spectral decomposition d_rho = spectral_factorization(a, 1, rho, 1) / / Calculate d_lambda_k using spectral decomposition d_lambda_k = spectral_factorization(a, 1, k, lambda) / / Calculate p and q using the Diophantine equation (p, q) = solve_p_q(a, 1, d_rho, d_lambda_k) / / Returns d_rho, d_lambda_k, p, q return d_rho, d_lambda_k, p, q end function The robot joint admittance control method provided in this embodiment decouples the tracking, disturbance rejection, and noise reduction performance by employing a two-degree-of-freedom control structure. This ensures that desired position tracking is determined solely by the first sub-controller, while disturbance and noise suppression are determined solely by the second sub-controller, avoiding the performance constraints inherent in traditional control methods. By establishing weighted performance indices and employing spectral decomposition and analytical solving of polynomial equations, the controller parameters reach theoretical optimality under given weights, achieving a balance between optimality and analytical computation. Furthermore, by adjusting only three scalar parameters… , and This approach allows for a balance between tracking accuracy, disturbance rejection, and noise immunity, making the admittance controller engineering tuning simple and flexible. By decomposing the controller design into analytical steps of spectral decomposition and Diophantine equations, parameter calculations can be fully automated, eliminating the need for trial and error and ensuring good reproducibility. By simultaneously optimizing error and controller output in the performance metrics and considering motor saturation constraints, the designed controller naturally suppresses actuator saturation while maintaining tracking accuracy. By incorporating the total disturbance into the performance metrics and using a second sub-controller for feedback suppression, the system maintains stable and high-precision admittance response under model errors, internal and external disturbances, and measurement noise, demonstrating strong robustness. By providing a complete process from identification and analytical calculation to discretization and specific implementation parameters, those skilled in the art can directly reproduce and transfer the design to different robot joints, making it industrially scalable. By separating the desired admittance parameter from the control adjustment parameter, the desired compliant behavior and dynamic response characteristics can be designed independently, achieving decoupling between task-oriented and control performance-oriented approaches.

[0059] The method of the present invention will be further described below with reference to a specific embodiment. This embodiment is for a single-degree-of-freedom robot joint and is implemented using the admittance control method based on two-degree-of-freedom control described above. The specific steps are as follows: a) System modeling: The joint model is as follows:

[0060] b) Parameter identification Without load, a sweep frequency signal with an amplitude of 10 Nm and a frequency of 0-2 Hz is applied to the robot joints. The joint angles and velocities are collected and identified using the least squares method. Inertia is Damping is stiffness is

[0061] c) System parameter settings The expected admittance model is:

[0062] Set the desired admittance parameter: Expected inertia is The expected damping is The desired stiffness is

[0063] The performance weighting parameters are: , ,

[0064] d) Controller Construction A two-degree-of-freedom control structure is adopted, with

[0065] e) Controller parameter solution Construct polynomials:

[0066] Spectral decomposition yields:

[0067]

[0068] The solution yields:

[0069]

[0070] The final controller is:

[0071]

[0072] f) Simulation and experimental verification A simulation model was built in MATLAB / Simulink with a control period of 1 ms and a simulation duration of 15 s.

[0073] Interactive torque Input: Sine wave signal, amplitude 5 Nm, period 1.5 s; Disturbance Periodic pulse signal, amplitude 0.1 Nm, period 0.5 s, duty cycle 50%; Noise measurement Gaussian white noise, variance 0.005.

[0074] Simulation results show that the steady-state error of angle tracking is less than 0.4008 rad, the control output has no saturation, the tracking accuracy is high, and the disturbance suppression and noise attenuation effects are excellent.

[0075] The physical experiment was verified on a single-joint platform. The human-computer interaction was smooth and the response was stable. The positional accuracy was high, which was consistent with the simulation results, proving that the method is effective and feasible.

[0076] For a corresponding method embodiment, see [link to relevant documentation]. Figure 4 This invention also provides a robot joint admittance control system 40, comprising: Modeling and identification module 401 is used to model the robot joint system and obtain joint models. And set the desired admittance model. ; The two-degree-of-freedom controller 402 includes a first sub-controller. Second Sub-Controller The corresponding control law is ; Parameter tuning module 403 is used to select weight parameters according to system performance requirements. , and Based on the joint model The transfer functions of the first and second sub-controllers are obtained analytically through spectral decomposition and polynomial solution. Control module 404, used for joint model-based The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

[0077] Furthermore, the parameter tuning module is configured to perform the following calculation process: Constructing polynomials ; Solving for stable polynomials satisfy ; Solving for the stable polynomial satisfy ; Solving for the stable polynomial and satisfy ,and It is a type 0 transfer function of order 2; Output controller , .

[0078] Figure 4 The system shown can execute the contents of the above method embodiments. For the parts not described in detail in this embodiment, please refer to the contents recorded in the above method embodiments, and they will not be repeated here.

[0079] Corresponding to the method and system embodiments above, this invention also provides a robot joint controller that uses the method or system described in any of the above embodiments to achieve a compliant response to external interactive forces and suppress system disturbances and measurement noise.

[0080] See Figure 5 The present invention also provides an electronic device 50, which includes at least one processor and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which, when executed, enable the at least one processor to perform the robot joint admittance control method described in the foregoing method embodiments.

[0081] This invention also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the robot joint admittance control method in the foregoing method embodiments.

[0082] This invention also provides a computer program product, which includes a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the robot joint admittance control method in the aforementioned method embodiments.

[0083] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device 50 suitable for implementing embodiments of the present invention. The electronic device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0084] like Figure 5 As shown, electronic device 50 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. RAM 503 also stores various programs and data required for the operation of electronic device 50. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0085] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, magnetic tapes, hard disks, etc.; and communication devices 509. Communication device 509 allows electronic device 50 to communicate wirelessly or wiredly with other devices to exchange data. Although an electronic device 50 with various devices is shown in the figure, it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0086] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of the embodiments of the present invention.

[0087] It should be noted that the computer-readable medium described above in this invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0088] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0089] The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to perform the relevant steps of the above-described method embodiments.

[0090] Alternatively, the aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to perform the relevant steps of the above method embodiments.

[0091] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0092] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0093] The units described in the embodiments of the present invention can be implemented in software or in hardware.

[0094] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the admittance of robot joints, characterized in that, include: Step 1: Model the robot's joint system to obtain the joint model. And set the desired admittance model. ; Step 2, construct a two-degree-of-freedom controller The corresponding control law is The two-degree-of-freedom controller Including the first sub-controller Second Sub-Controller , The reference location generated by the admittance model. The joint position detected by the sensor; Step 3: Select weight parameters based on system performance requirements. , and ,in, To adjust the weights of the tracking error and the controller output, The weights used to adjust the disturbance, Weights used to adjust for noise; Step 4, based on the joint model The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

2. The method according to claim 1, characterized in that, The steps for modeling the robot joint system include: Without physical contact, a sweep frequency control signal is applied to the joint, multiple sets of input-output timing data are collected, and the joint model is identified using the least squares method. Parameters, among which, joint model The expression is: in, This refers to the actual position of the joint. This is the actual control input of the system. For Laplace variables, For inertia, For damping, For stiffness.

3. The method according to claim 2, characterized in that, The admittance model The expression is in, For the desired inertia, For desired damping, For the desired stiffness, This refers to the interaction torque between the robot's joints and the human or external environment.

4. The method according to claim 3, characterized in that, Step 4 specifically includes: Denominator polynomial for constructing joint model .

5. The method according to claim 4, characterized in that, Step 4 also includes: Solve for the first stable polynomial To make it satisfy the spectral decomposition equation: 。 6. The method according to claim 5, characterized in that, Step 4 also includes: Solve for the second stable polynomial To make it satisfy the spectral decomposition equation: 。 7. The method according to claim 6, characterized in that, Step 4 also includes: Solving for the stable polynomial and To make it satisfy the polynomial equation: And satisfy It is a type 0 transfer function of order 2.

8. The method according to claim 7, characterized in that, Step 4 also includes: The transfer functions of the first and second sub-controllers are calculated as follows: 。 9. The method according to claim 1, characterized in that, The adjustment rule for the weighting parameter is as follows: When weight parameters When less than 1, follow The reduction in tracking error Reduce, two-degree-of-freedom controller output Increase; when When it is greater than 1, it follows The increase in tracking error Increase, two-degree-of-freedom controller output Decrease; When the weight parameter When the system achieves disturbance suppression performance superior to noise suppression, it obtains better disturbance suppression performance. When the system achieves noise suppression performance superior to disturbance suppression, it can achieve noise suppression performance.

10. The method according to claim 1, characterized in that, The two-degree-of-freedom controller outputs Subject to motor saturation constraints, satisfying .

11. A robot joint admittance control system for executing the robot joint admittance control method according to any one of claims 1 to 10, the system comprising: The modeling and identification module is used to model the robot's joint system and obtain joint models. And set the desired admittance model. ; A two-degree-of-freedom controller, including a first sub-controller. Second Sub-Controller The corresponding control law is ; The parameter tuning module is used to select weight parameters according to system performance requirements. , and Based on the joint model The transfer functions of the first and second sub-controllers are obtained analytically through spectral decomposition and polynomial solution. Control module for joint-based models The first sub-controller is obtained analytically through spectral decomposition and polynomial equation solving, along with the weight parameters. Second Sub-Controller The transfer function and its substitution into the control law Generate controller output In order to improve performance indicators Minimize: in, To control the position error by admittance, For unit step signal, A unit pulse signal, For the total system disturbance, To measure noise for the sensor.

12. The system according to claim 11, characterized in that, The parameter tuning module is configured to perform the following calculation process: Constructing polynomials ; Solving for stable polynomials satisfy ; Solving for the stable polynomial satisfy ; Solving for the stable polynomial and satisfy ,and It is a type 0 transfer function of order 2; Output controller , .

13. A robot joint controller, characterized in that, The method of any one of claims 1 to 10 or the system of any one of claims 11 to 12 is used to achieve a compliant response to external interaction forces and to suppress system disturbances and measurement noise.

14. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the robot joint admittance control method according to any one of claims 1-10.

15. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the robot joint admittance control method according to any one of claims 1-10.

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