A heterogeneous general obstacle avoidance control system for a power operating robot

Abstract

The application belongs to the technical field of control and adjustment systems of intelligent robots, and particularly relates to a heterogeneous general obstacle avoidance control system of an electric power operating robot. The system comprises a heterogeneous hardware adaptation module: a unified communication form is realized for different communication data structures; an installation pose parameterization adaptive module: based on the spatial pose relationship of each robot base coordinate system relative to the global base coordinate system, an installation transformation matrix of each robot base is obtained, based on the current robot attitude, a gravity vector component is calculated, and a static torque that can offset the static torque generated by the self-weight of each connecting rod is generated at each joint of the robot; an electric insulation potential field dynamic obstacle avoidance module: the insulation potential field of the live target body, the virtual repulsive force in the negative gradient direction, and the virtual repulsive force and the attractive force of the live target body are calculated, the rotation torque of the robot joint is mapped, and the real-time trajectory of the robot is corrected based on the rotation torque. By adopting the scheme, the effects of high safety, strong universality and flexible deployment are achieved.

Description

Technical Field

[0001] This invention belongs to the technical field of control and regulation systems for intelligent robots, and specifically relates to a heterogeneous universal obstacle avoidance control system for power operation robots. Background Technology

[0002] With the continuous improvement of the automation level of power systems, substation inspection and live-line working robots have been increasingly widely used in the industry. However, in the process of technology promotion and practice, current power robots have generally exposed the core problem of excessive hardware coupling.

[0003] Specifically, this manifests in two aspects: First, substation on-site inspection tasks typically require the integration of robotic arms and mobile chassis from various brands and with different degrees of freedom. Due to the inconsistent interface protocols and communication standards used by different manufacturers, algorithms developed for specific equipment are difficult to reuse directly on different hardware platforms. Each time equipment is replaced or added, it needs to be re-adapted and debugged, resulting in extremely low algorithm reuse rate and severely restricting research and development and deployment efficiency.

[0004] Secondly, the installation position and posture of the robotic arm in actual deployment are highly flexible, with multiple installation methods such as upright mounting, side mounting, and hoisting coexisting. Different installation methods directly affect the dynamic model and coordinate system relationship of the robotic arm. Therefore, every time the installation method changes, the gravity compensation parameters and the mapping relationship from the base coordinate system to the task coordinate system must be recalibrated and re-calibrated. This process not only requires professional personnel but is also time-consuming and labor-intensive, thus greatly increasing the complexity of system operation and maintenance and long-term operating costs.

[0005] In addition, in high-voltage environments such as substations, obstacle avoidance algorithms must not only consider physical collisions, but also strictly comply with the insulation distance requirements in the "Electric Power Safety Work Regulations" to ensure that electrical hazards are avoided when working near live equipment.

[0006] Insulation distance is a critical parameter set based on voltage level and safety margin; violation of it may lead to serious accidents such as arcing and breakdown. Traditional obstacle avoidance methods based on geometric interference checks typically only perform hard collision detection on physical obstacles, making it difficult to handle complex dynamic programming problems with soft constraints such as "electrical clearance"—which require dynamic adjustment of safety boundaries under different operating conditions, while taking into account equipment movement, environmental changes, and real-time risk assessment.

[0007] Therefore, traditional methods often fail to effectively balance path efficiency and electrical safety in high-risk operating environments, resulting in insufficient satisfaction of safety requirements. There is an urgent need to develop intelligent obstacle avoidance algorithms that can integrate multi-physics constraints. Summary of the Invention

[0008] The purpose of this invention is to provide a heterogeneous universal obstacle avoidance control system for power operation robots.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows: This invention provides a heterogeneous universal obstacle avoidance control system for power operation robots, wherein the robot is equipped with a robotic arm, and is characterized by comprising the following modules: Heterogeneous hardware adaptation module: It adopts a standard information format to unify the communication interface for different robotic arm control commands and status data, and realizes a unified communication form for different communication data structures; The installation pose parameterization adaptive module: Based on the spatial pose relationship between each robot arm base coordinate system and the global base coordinate system, the installation transformation matrix of each robot arm base is obtained. Based on the installation transformation matrix and the current posture of the robot arm base coordinate system in the global coordinate system, the component of the global gravity vector in the robot arm base coordinate system is calculated. This component is dynamically projected to each link and joint space of the robot arm, and each link and joint generates a gravitational torque. The robot arm can automatically cancel the static torque generated by each link due to its own weight in any installation state. Dynamic obstacle avoidance module for electrical insulation potential field: Calculates the insulation potential field of the charged target based on the real-time distance between the robotic arm and the charged target, the warning radius affected by the voltage level, the safety distance, and the physical collapse limit distance; The virtual repulsive force in the negative gradient direction is calculated based on the insulating potential field. In each control cycle, the resultant force of the attraction of the charged target and the repulsive force of the insulating potential field is calculated. The resultant force is mapped to the joint space torque, and the rotational torque of the robotic arm joint is calculated. The real-time trajectory correction of the robotic arm is performed based on the rotational torque.

[0010] Furthermore, the insulating potential field in the dynamic obstacle avoidance module It is achieved through the following formula: in, The real-time distance between the robot and the charged object. The warning radius is affected by voltage level. For safety regulations regarding spacing; The physical collapse limit distance. This represents the potential field strength.

[0011] Furthermore, the virtual repulsion force in the dynamic obstacle avoidance module It is calculated using the following formula: in, Indicates the sign of the partial derivative. This represents the unit direction vector from the charged target to the robot. Represents the gradient operator, Furthermore, the combined force in the dynamic obstacle avoidance module The calculation is performed using the following formula: = + in, This represents the gravitational pull of a charged target. This represents a virtual repulsive force.

[0012] Furthermore, the resultant force in the dynamic obstacle avoidance module is mapped to the joint space torque. It is achieved through the following formula: in, This indicates the torque command for the robotic arm joints. Represents the transpose of the Jacobian matrix of the robotic arm. It represents the combined force.

[0013] Furthermore, the real-time trajectory correction logic of the robotic arm in the dynamic obstacle avoidance module is as follows: when the real-time distance between the robot and the charged body is less than or equal to the warning radius, the motion controller forcibly sets the robot's velocity component along the negative gradient direction to 0 or a negative value, while retaining the tangential motion velocity.

[0014] Furthermore, a transformation matrix is ​​installed in the pose parameterization adaptive module. It is expressed by the following formula: in, Represents the rotation matrix. Let B represent the translation vector, B represent the robot arm base coordinate system, and V represent the global base coordinate system.

[0015] Furthermore, the components of the global gravity vector in the robot arm base coordinate system are installed in the pose parameterization adaptive module. It is achieved through the following formula: in, Represents the global gravity vector. Let B represent the rotation matrix, B represent the robot arm base coordinate system, and V represent the global base coordinate system.

[0016] Furthermore, the pose parameterization adaptive module calculates the gravitational torque for each joint. It is achieved through the following formula: in, For the first The mass of each link. For the first Jacobian matrix components corresponding to the centroids of each link Indicates the first One joint, This represents the component of the global gravity vector in the coordinate system of the robot arm base.

[0017] Furthermore, the standard information format in the heterogeneous hardware adaptation module is the ROS standard information format, and the robotic arm drive plugin uniformly publishes joint information, including joint position, speed, and torque information applied to the joint.

[0018] Compared with the prior art, the technical solution provided by this invention has the following advantages: Based on electromagnetic field theory, the concept of electrical insulation potential field is proposed to ensure the safe operation of robotic arms by simulating an insulation barrier. The key safety parameter of "electrical distance" is analyzed and quantitatively defined in depth. This parameter is intuitive and important in electrical safety and directly determines the risk of electric shock that may occur during the operation of the equipment.

[0019] In the modeling process, advanced mathematical tools, such as finite element analysis and probabilistic statistical models, were used to accurately simulate the variation of the charged distance under different operating conditions and its interaction with the surrounding environment.

[0020] Subsequently, these modeling results are systematically transformed into hard constraints in the algorithm, such as setting dynamic thresholds and strict boundary limits in the control system to ensure that the charged distance is always maintained within a safe range under any operating state.

[0021] This transformation process is deeply embedded in the underlying logic of the system design, fundamentally eliminating the risk of electric shock at the architectural level, making the safety mechanism an inherent part of the system.

[0022] In this way, the safety and reliability of the equipment during operation are fully guaranteed, which not only effectively prevents potential personal injury accidents, but also significantly improves the durability and overall performance stability of the equipment.

[0023] The system also features a highly compatible software platform that can seamlessly adapt to various industrial robotic arms, thus enabling flexibility and autonomy in hardware selection.

[0024] This breakthrough significantly reduces the repetitive programming and debugging work caused by differences in robotic arms during the development of power-specific robots. This not only drastically shortens the R&D cycle but also effectively controls costs. The previously complex process of customizing development methods for different robotic arms has now been standardized and simplified, enabling more companies and research teams to more quickly and conveniently advance the implementation and application of special robot projects such as power inspection, fault handling, and high-risk operations, truly lowering the technological barrier to innovation in the industry. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the gradient distribution of the electrical insulation potential field of the charged target body of the present invention; Figure 2 This is a schematic diagram showing the trajectory comparison curves of the robotic arm before and after obstacle avoidance in this invention; Among them, 1-charged target body. Detailed Implementation

[0026] To further understand the content of this invention, the invention will be described in detail with reference to the embodiments. Example 1 This embodiment provides a heterogeneous universal obstacle avoidance control system for a power operation robot. The robot is equipped with a robotic arm and includes a heterogeneous hardware adaptation module, a posture parameterization adaptive module, and a power insulation potential field dynamic obstacle avoidance module. The function of each module is described in detail below.

[0027] Heterogeneous hardware adaptation module: Standard information formats are used to unify the communication interface for different robotic arm control commands and status data, and a unified communication form is achieved for different communication data structures.

[0028] The system's underlying layer uses an abstract, standardized information format to provide a standardized description of various robotic arm control commands and status data. For robotic arms from different manufacturers, corresponding "drive bridging plugins" are developed to transform complex underlying bus protocols and vendor-specific interfaces into a unified, parsable status feedback stream. This architecture allows upper-layer applications to focus solely on standardized messages without needing to concern themselves with specific hardware differences, thereby improving system compatibility and scalability.

[0029] The standard information format is for the robotic arm drive plugin to uniformly publish joint information, including joint position, speed, and torque applied to the joint.

[0030] In this embodiment, preferably, the heterogeneous hardware adaptation module uses ROS as the underlying distributed communication middleware to normalize heterogeneous hardware. The specific operation method is as follows: Node encapsulation: Write arm_driver_node for robotic arms from different manufacturers, and write base_driver_node for mobile chassis (such as CAN communication).

[0031] Standard Interface Definition: All heterogeneous hardware conforms to the ROS standard message format. The robotic arm driver plugin uniformly publishes the ` / joint_states` topic for the kernel to read and subscribes to the ` / joint_group_vel_controller / command` topic used to send speed commands to a group of joints. This topic receives speed control commands for multiple joints, enabling them to move collaboratively at specified speeds; the topic receives the control input.

[0032] Plug-in mapping: By using the ROS Pluginlib library, hardware interface layers for different bus protocols are dynamically loaded at runtime, achieving complete decoupling between the underlying protocol and the upper-layer control algorithm.

[0033] To address the complex business logic and non-standard interfaces involved in power line inspection, such as the interaction between power monitoring systems and alarm gateways, the system introduces the Node-RED streaming computing platform on top of ROS. Heterogeneous data bridging: Leveraging Node-RED's rich ecosystem of nodes, seamless bidirectional communication with the ROS system is achieved through the node-red-contrib-ros plugin. This converts "hard real-time data" such as robot coordinates, battery level, and status into a standard JSON format stream.

[0034] Low-code logic gluing: Protocol parsing node: By using Node-RED's Function node and writing a small amount of JavaScript scripts, proprietary WebAPI or MQTT messages from different manufacturers can be quickly converted into internal system commands.

[0035] State machine management: Manage inspection logic through visual process nodes, such as "obstacle detected -> trigger alarm gateway -> pause ROS task flow -> switch obstacle avoidance mode".

[0036] Cross-protocol interaction: Node-RED acts as a "translator," synchronizing the robot's internal ROS status to the web-based monitoring backend or mobile app in real time, achieving efficient interoperability between industrial control protocols and internet protocols.

[0037] Considering the strong real-time requirements of ROS for motion control and the non-real-time nature of Node-RED's business logic, the system adopts a dual-loop control architecture: Inner loop (ROS kernel): Runs position control, torque control and dynamic obstacle avoidance algorithms at a frequency of 1kHz to ensure smooth movement and physical safety.

[0038] Outer ring (Node-RED orchestration): Runs business logic decisions and heterogeneous data reporting at a frequency of 10Hz-50Hz to ensure the system's flexibility in complex power business environments.

[0039] Install the pose parameterization adaptive module: Based on the spatial pose relationship between each robotic arm base coordinate system and the global base coordinate system, the installation transformation matrix of each robotic arm base is obtained. Based on the installation transformation matrix and the attitude of the current robotic arm base coordinate system in the global coordinate system, the component of the global gravity vector in the robotic arm base coordinate system is calculated. This component is then dynamically projected onto each link and joint space of the robotic arm, generating a gravitational torque in each link and joint. The robotic arm can automatically cancel out the static torque generated by the weight of each link under any installation state.

[0040] In this embodiment, preferably, the installation transformation matrix is ​​introduced through the configuration layer. The matrix is The homogeneous transformation matrix is ​​described in detail for the robot arm base coordinate system. Relative to the global base coordinate system (or the carrier coordinate system) Spatial pose relationship.

[0041] This matrix is ​​composed of rotation matrices. Translation vector composition: Users only need to input the installation angle of the robotic arm relative to the carrier (such as 90° for side mounting or 45° for tilting) and the installation offset in the configuration interface, and the system kernel can automatically generate the matrix and redefine the spatial mapping to ensure accurate alignment between the global path planning and the coordinates of the robotic arm joint movement.

[0042] In the gravity compensation stage, this embodiment overcomes the limitation of traditional robotic arm controllers that preset the gravity vector downwards along a fixed Z-axis. The system reads the installation transformation matrix. Based on the current attitude of the carrier in the global coordinate system, the global gravity vector is calculated. In the coordinate system of the robotic arm base The following components : Furthermore, based on the recursive Newton-Euler algorithm, the system will... Dynamic projection is applied to each link and joint space of the robotic arm. For the first... Each joint generates a gravitational torque. The calculation is as follows: in, Link quality represents the Jacobian matrix component corresponding to the center of mass of the link.

[0043] Through the aforementioned dynamic projection technology, the robotic arm can automatically counteract the static torque generated by the weight of each link under non-standard postures such as side mounting, hoisting, or arbitrary oblique installation.

[0044] In "zero-force teaching" mode, when the operator applies external force to the robotic arm, the system kernel can calculate and compensate for the changes in gravity components caused by the change in installation angle in real time, enabling the robotic arm to maintain a state of gravity balance in any spatial position. This not only significantly improves the operating accuracy of the robotic arm in complex power operation environments such as narrow-slot installation in substations and lateral mounting on utility poles, but also greatly reduces the complexity of on-site commissioning, achieving "plug and play" adaptive capability.

[0045] Dynamic obstacle avoidance module for electrical insulation potential field: See Figure 1 The left-middle image shows the warning radius based on the real-time distance between the robotic arm and the charged target, and the effect of voltage level. R p Safety spacing R s Physical collapse limit distance R c Calculate the insulating potential field of the charged target; The virtual repulsive force in the negative gradient direction is calculated based on the insulating potential field. In each control cycle, the resultant force of the attraction of the charged target and the repulsive force of the insulating potential field is calculated. The resultant force is mapped to the joint space torque, and the rotational torque of the robotic arm joint is calculated. The real-time trajectory correction of the robotic arm is performed based on the rotational torque.

[0046] The power insulation potential field, based on electromagnetic field theory, is specifically designed for automated operations in power systems. It simulates an insulation barrier to ensure the safety of robotic arm operation. In the algorithm's core, a charged target is considered a potential source with "high energy," and its influence range is determined by the voltage level of the equipment. The higher the voltage, the greater the strength and coverage area of ​​the potential field, forming a dynamic safety boundary. When the robotic arm approaches this range, the system monitors the distance and potential field changes in real time and generates a large gradient force. This force is fed back through the motion controller, forcibly adjusting the robotic arm's planned trajectory to actively avoid dangerous areas. This process not only achieves autonomous obstacle avoidance but also ensures that the operating path always complies with the safe distances stipulated in power safety regulations. This effectively prevents electric shock accidents and improves operational accuracy and the overall robustness of the system.

[0047] In this embodiment, preferably, an asymmetric exponential artificial insulation potential field function is constructed to realize the dynamic safety boundary. The mapping relationship between the voltage level and the potential field parameters is realized through the following mathematical model: Define the charged target body as the center point The robot's current location is Insulating potential field The mathematical expression is: in, The real-time distance between the robot and the charged target; The warning radius affected by voltage level, corresponding to Figure 1 Warning radius R p ; For safety regulations, the corresponding spacing is... Figure 1 Safety spacing R s ; The physical collapse limit distance, corresponding to Figure 1 The physical collapse limit distance in R c， The potential field strength is denoted as .

[0048] The voltage mapping logic is as follows: the system kernel presets a power safety regulation lookup table module, and the voltage level... Directly determines parameters For example: when hour, ,when hour, .

[0049] Potential field strength The gain coefficient is dynamically adjusted according to the voltage level; the higher the voltage, the better. The larger the potential field gradient, the greater the potential field gradient. At greater distances, the changes begin to be dramatic.

[0050] Dynamic coverage area: via Implementation, in which The safety redundancy factor is usually set to 1.2-1.5.

[0051] Real-time trajectory correction of the robotic arm is achieved through torque mapping using the resultant force calculated from gravity and repulsion. Calculate the negative gradient direction of the potential field to generate a virtual repulsive force. : in, Indicates the sign of the partial derivative. This represents the unit direction vector from the charged target to the robot. Represents the gradient operator, The virtual repulsive force is related to the real-time distance between the robot and the charged target. The decrease is exponentially increased, ensuring that it approaches... This produces a hard damping effect.

[0052] Real-time trajectory correction algorithm: The system employs a constrained velocity projection method, within each control cycle (for example, a preferred control cycle of 1 ms). Calculate the gravitational force of a charged target. and the virtual repulsive force of the insulating potential field The combined force The resultant force is mapped to the joint space torque. ,in Represents the transpose of the Jacobian matrix of the robotic arm. This command represents the rotational torque of the robotic arm joints.

[0053] Correction logic: If detected The motion controller will activate "velocity component truncation", which forcibly sets the robot's velocity component along the potential field gradient direction to 0 or negative, while retaining tangential motion. This makes the robotic arm behave as if it slides along the safety boundary, rather than "stopping by direct collision".

[0054] The trajectory adjustment needs to meet the following standards to satisfy power operation requirements: Corrected path Must meet That is, during the dynamic process, no part of the robotic arm may intrude into the insulation space defined by safety regulations.

[0055] The acceleration mutation rate during trajectory correction must be limited within the rated range of the motor to prevent mechanical oscillations from causing accidental approach to charged targets.

[0056] When the position of a charged target changes relative to the position due to the movement of the carrier, the potential field needs to be redrawn at a frequency of not less than 50Hz to ensure the real-time effectiveness of the dynamic boundary.

[0057] In this embodiment, preferably, the robotic arm is suspended on a track robot base inside the substation, and the base is fixed to the roof support structure, so that the robotic arm can move horizontally along a preset track to perform equipment inspection and maintenance tasks.

[0058] First, the installation method is set to "hoisting" in the system's configuration description layer. Based on this configuration, the system automatically modifies the gravity vector components to accurately reflect the direction of gravity in the hoisting state, ensuring the accuracy and stability of the robotic arm in motion control and load calculation.

[0059] When the robotic arm moves to the disconnect switch to be inspected, the lidar detects a high-voltage busbar in the vicinity. The voltage level is 110KV, and the safety distance corresponding to 110KV voltage is set at 1.5 meters. The effective threshold of the potential field repulsion force, and the dynamic adjustment of the path planning algorithm based on this, ensure that the robotic arm maintains a safe distance when performing detection tasks, avoiding any accidental contact with the high-voltage bus.

[0060] During the robotic arm's task of extending towards the target disconnect switch, the system continuously monitors the real-time distance between each link and the surrounding busbars. When it detects that the distance between a link and the busbar has shortened to less than 2 meters, which is the preset warning radius... At this time, the electrical insulation potential field is triggered and begins to function. This potential field generates a directional repulsion effect by simulating a safe insulation barrier, driving the robotic arm to automatically adjust its movement path to avoid potential danger areas, thereby effectively avoiding the risk of electrical contact. During this avoidance adjustment, the control unit precisely coordinates the posture and joint movement of the robotic arm to ensure that the camera at its end is always stably aligned with the target switch, so as to maintain the continuity of visual monitoring and the accuracy of operation positioning.

Claims

1. A heterogeneous universal obstacle avoidance control system for a power operation robot, wherein the robot is equipped with a robotic arm, characterized in that... Includes the following modules: Heterogeneous hardware adaptation module: It adopts a standard information format to unify the communication interface for different robotic arm control commands and status data, and realizes a unified communication form for different communication data structures; The installation pose parameterization adaptive module: Based on the spatial pose relationship between each robot arm base coordinate system and the global base coordinate system, the installation transformation matrix of each robot arm base is obtained. Based on the installation transformation matrix and the current posture of the robot arm base coordinate system in the global coordinate system, the component of the global gravity vector in the robot arm base coordinate system is calculated. This component is dynamically projected to each link and joint space of the robot arm, and each link and joint generates a gravitational torque. The robot arm can automatically cancel the static torque generated by each link due to its own weight in any installation state. Dynamic obstacle avoidance module for electrical insulation potential field: Calculates the insulation potential field of the charged target based on the real-time distance between the robotic arm and the charged target, the warning radius affected by the voltage level, the safety distance, and the physical collapse limit distance; The virtual repulsive force in the negative gradient direction is calculated based on the insulating potential field. In each control cycle, the resultant force of the attraction of the charged target and the repulsive force of the insulating potential field is calculated. The resultant force is mapped to the joint space torque, and the rotational torque of the robotic arm joint is calculated. The real-time trajectory correction of the robotic arm is performed based on the rotational torque.

2. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: Insulating potential field in dynamic obstacle avoidance module It is achieved through the following formula: in, The real-time distance between the robot and the charged object. The warning radius is affected by voltage level. For safety regulations regarding spacing; The physical collapse limit distance. This represents the potential field strength.

3. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: Virtual repulsion in the dynamic obstacle avoidance module It is calculated using the following formula: in, Indicates the sign of the partial derivative. This represents the unit direction vector from the charged target to the robot. Represents the gradient operator. It represents the insulating potential field.

4. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: Resultant force in dynamic obstacle avoidance module The calculation is performed using the following formula: = + in, This represents the gravitational pull of a charged target. This represents a virtual repulsive force.

5. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: The resultant force is mapped to the joint space torque in the dynamic obstacle avoidance module. It is achieved through the following formula: in, The command indicates the rotational torque of the robotic arm joints. Represents the transpose of the Jacobian matrix of the robotic arm. It represents the combined force.

6. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that, The real-time trajectory correction logic of the robotic arm in the dynamic obstacle avoidance module is as follows: when the real-time distance between the robot and the charged body is less than or equal to the warning radius, the motion controller forcibly sets the robot's velocity component along the negative gradient direction to 0 or a negative value, while retaining the tangential motion velocity.

7. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: Install the transformation matrix in the pose parameterization adaptive module. It is expressed by the following formula: in, Represents the rotation matrix. Represents the translation vector. B Indicates the coordinate system of the robot arm base. V Represents the global base coordinate system.

8. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: The components of the global gravity vector in the robot arm base coordinate system are installed in the pose parameterization adaptive module. It is achieved through the following formula: in, Represents the global gravity vector. Represents the rotation matrix. B Indicates the coordinate system of the robot arm base. V Represents the global base coordinate system.

9. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: The pose parameterization adaptive module calculates the gravitational torque for each joint. It is achieved through the following formula: in, For the first The mass of each link. This represents the total number of links. For the first Jacobian matrix components corresponding to the centroids of each link Indicates the first One joint, This represents the component of the global gravity vector in the coordinate system of the robot arm base.

10. The heterogeneous universal obstacle avoidance control system according to claim 1, characterized in that: The standard information format in the heterogeneous hardware adaptation module is the ROS standard information format. The robotic arm drive plugin uniformly publishes joint information, including joint position, speed, and torque applied to the joint.

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