Calibration method and device for joint motor torque

Abstract

The present disclosure relates to the technical field of computer, and particularly relates to a joint motor torque calibration method and device. The method comprises the following steps: obtaining target torque calibration intervals corresponding to each joint motor in a joint motor set; obtaining calibration conditions corresponding to the target torque calibration intervals; obtaining calibration information of the each joint motor in the target torque calibration intervals according to calibration data of the each joint motor in the target torque calibration intervals and the calibration conditions, wherein the calibration information is used for adjusting use parameters of the each joint motor in the target torque calibration intervals. The present disclosure can improve the accuracy and calibration efficiency of joint motor calibration.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and in particular to a method and apparatus for calibrating the torque of a joint motor. Background Technology

[0002] With the development of science and technology, robots are gradually appearing in all aspects of production and life. For example, they can be used to calibrate the joint motors of robots. Specifically, multiple torque points can be manually tested, and torque-phase current curves can be plotted. During torque calibration, the joint motor can be controlled to output torque at different target points, and curve corrections can be made through comparison, thus achieving joint motor calibration. However, manual calibration introduces errors into the joint motor calibration, resulting in relatively poor accuracy. Summary of the Invention

[0003] This disclosure provides a method and apparatus for calibrating the torque of a joint motor, which can improve the accuracy of joint motor calibration. The technical solution of this disclosure is as follows:

[0004] According to a first aspect of the present disclosure, a method for calibrating the torque of a joint motor is provided, comprising: Obtain the target torque calibration range for each joint motor in the joint motor set; Obtain the calibration conditions corresponding to the target torque calibration range; Based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions, the calibration information of each joint motor in the target torque calibration range is obtained, wherein the calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range.

[0005] According to some embodiments, wherein the target torque calibration range is an unloaded calibration range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain the first calibration data of each joint motor in the no-load calibration range, wherein the first calibration data includes the phase current data of each joint motor at each no-load speed in the no-load speed set; If the phase current data at each no-load speed does not meet the calibration conditions corresponding to the no-load calibration interval, the no-load damping coefficient of each joint motor is acquired and recorded.

[0006] According to some embodiments, wherein the target torque calibration range is a first torque range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain second calibration data for each joint motor in a first torque range, wherein the second calibration data includes a first torque coefficient for each joint motor at each first torque point in a first torque point set, the first torque coefficient being a torque coefficient obtained based on the test torque at each first torque point and the current information of each joint motor, and the first torque point set corresponding to the first torque range; Based on the first torque coefficient, the first proportional coefficient of each joint motor in the first torque range is obtained.

[0007] According to some embodiments, wherein the target torque calibration range is a second torque range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain third calibration data for each joint motor in the second torque range, wherein the third calibration data includes a second torque coefficient for each joint motor at each second torque point in the second torque point set, the second torque point set corresponding to the second torque range, and obtain a second proportional coefficient for each joint motor in the second torque range based on the second torque coefficient; or... The first proportional coefficient is used as the calibration information for each joint motor in the second torque range.

[0008] According to some embodiments, the method further includes: Obtain the torque coefficient reduction information of each joint motor; Based on the torque reduction information and the initial torque information, the first torque range and the second torque range are obtained.

[0009] According to some embodiments, the method further includes: During the calibration process of each joint motor, the winding temperature of each joint motor is obtained; If the winding temperature does not meet the temperature requirements, stop the calibration operation of each joint motor.

[0010] According to some embodiments, the method further includes: When each joint motor is in operation and under the target operating condition, the joint motor temperature of each joint motor is obtained. Based on the joint motor temperature, protection temperature and ambient temperature of each joint motor, obtain the first heat value corresponding to each joint motor; If the first heat value meets the stall detection condition, it is determined that each joint motor is in a stall state. Based on the second heat value and the heating power of the first joint motor, thermal protection operation is performed on the stall state of each joint motor. The second heat value is the heat value obtained when each joint motor is subjected to a preset load and reaches the protection temperature. The heating power of the first joint motor corresponds to the joint motor temperature and the current of each joint motor.

[0011] According to some embodiments, the method further includes: When a preset load is applied to each joint motor, the maximum heat generation location of the phase where the thermistor of each joint motor is located is obtained, and a stall operation is performed at the maximum heat generation location to obtain the first cooling time of each joint motor, wherein the first cooling time is the cooling time of each joint motor from ambient temperature to protection temperature under peak phase current. The second cooling time and the third cooling time of each joint motor are obtained, wherein the second cooling time is the cooling time of each joint motor from the preset temperature to the ambient temperature, and the third cooling time is the cooling time corresponding to each degree of temperature drop during the process of each joint motor from the preset temperature to the ambient temperature. The heating coefficient corresponding to each temperature is obtained based on the current corresponding to each temperature and the first cooling time. Based on the heating coefficient, the second cooling time, and the third cooling time, the second joint motor heating power corresponding to each joint motor is obtained, and the joint motor heating power corresponds to each temperature and the current corresponding to each temperature.

[0012] According to a second aspect of the present disclosure, a calibration device for the torque of a joint motor is provided, comprising: The interval acquisition unit is used to acquire the target torque calibration interval corresponding to each joint motor in the joint motor set; The condition acquisition unit is used to acquire the calibration conditions corresponding to the target torque calibration range; The device calibration unit is used to obtain calibration information of each joint motor in the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions, wherein the calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range.

[0013] According to a third aspect of the present disclosure, an electronic device is provided, comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the joint motor torque calibration method described in any one of the preceding aspects.

[0014] According to a fourth aspect of the present disclosure, a storage medium is provided that, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the joint motor torque calibration method described in any of the preceding aspects.

[0015] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method described in any one of the preceding aspects.

[0016] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects: In some or related embodiments, the calibration process involves obtaining the target torque calibration range for each joint motor in the set of joint motors; obtaining calibration conditions corresponding to the target torque calibration range; and obtaining calibration information for each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions. The calibration information is used to adjust the usage parameters of each joint motor within the target torque calibration range. Therefore, when calibrating joint motors, a corresponding calibration method can be used based on the calibration range in which the joint motor is located. This improves the matching between the calibration method and the current calibration range, eliminates the need for manual plotting of torque and phase current curves, and reduces the possibility of inaccurate joint motor calibration due to manual calibration. This improves the accuracy and efficiency of joint motor calibration.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0019] Figure 1 This is a flowchart of the first method for calibrating the torque of a joint motor provided in this embodiment of the disclosure; Figure 2 This is a flowchart of a second method for calibrating the torque of a joint motor provided in this embodiment of the disclosure; Figure 3 This is a block diagram illustrating the calibration of a joint motor torque according to an exemplary embodiment; Figure 4This is an example schematic diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0021] This disclosure provides a method, apparatus, electronic device, and storage medium for calibrating the torque of a joint motor. In some embodiments, the terms "calibration method of joint motor torque" and "information processing method," "communication method," etc., can be used interchangeably; the terms "calibration apparatus of joint motor torque" and "information processing apparatus," "communication apparatus," etc., can be used interchangeably; and the terms "information processing system," "communication system," etc., can be used interchangeably.

[0022] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0023] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0024] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0025] In this disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular or a plural expression.

[0026] In the embodiments of this disclosure, "multiple" refers to two or more.

[0027] In some embodiments, the terms “at least one of,” “one or more,” “a plurality of,” and “multiple” may be used interchangeably.

[0028] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0029] In some embodiments, "terminal" or "terminal device" may be referred to as "user equipment (UE)," "user terminal," "mobile station (MS)," "mobile terminal (MT)," "subscriber station," "mobile unit," "subscriber unit," "wireless unit," "remote unit," "mobile device," "wireless device," "wireless communication device," "remote device," "mobile subscriber station," "access terminal," "mobile terminal," "wireless terminal," "remote terminal," "handset," "user agent," "mobile client," "client," etc.

[0030] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0031] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0032] Figure 1 This is a flowchart of the first method for calibrating the torque of a joint motor provided in this disclosure embodiment, as shown below. Figure 1 As shown, this method for calibrating the torque of a joint motor can be used in scenarios where joint motors are calibrated, and includes the following steps: In step S11, the target torque calibration range corresponding to each joint motor in the joint motor set is obtained; In some embodiments, the executing entity of this disclosure may be, for example, an electronic device. This electronic device does not specifically refer to a particular fixed electronic device. For example, when the device identifier changes, the electronic device may also change accordingly. For example, when the structure of the electronic device changes, the electronic device may also change accordingly. In this disclosure, the electronic device serving as the executing entity may, for example, be a robot.

[0033] In some embodiments, a joint motor can be the power core of a robot's mechanical joint, used to drive the joints of mechanical components in a robotic arm, humanoid robot, or quadruped robot to perform operations corresponding to control commands. Here, a joint motor does not specifically refer to a particular fixed joint motor. For example, the joint motor can also be called a robot joint actuator motor, a rotary joint motor, etc.

[0034] According to some embodiments, the set of joint motors may be, for example, a collection of at least one joint motor to be calibrated. This set of joint motors does not specifically refer to a fixed set. For example, when the joint motor identifier of a particular joint motor in the set changes, the set of joint motors may also change accordingly. For example, when the joint of the joint motor to be calibrated changes, the set of joint motors may also change accordingly. For example, when the number of joint motors corresponding to the set changes, the set of joint motors may also change accordingly.

[0035] In some embodiments, the target torque calibration range may be, for example, a torque range to be calibrated. This target torque calibration range does not specifically refer to a fixed range. For example, when the torque corresponding to this range changes, the target torque calibration range may also change accordingly.

[0036] According to some embodiments, the target torque calibration range corresponding to each joint motor in the set of joint motors is obtained. For example, the torque of each joint motor can be tested gradually upwards, and the target torque calibration range can be determined based on the current torque.

[0037] In step S12, the calibration conditions corresponding to the target torque calibration range are obtained; According to some embodiments, the calibration conditions may be, for example, the conditions corresponding to each joint motor within the target torque calibration range. These calibration conditions can be used, for example, to determine the relevant information of each joint motor and whether the calibration of each joint motor is complete within the target torque calibration range. These calibration conditions are not specifically fixed conditions. For example, when the specific content corresponding to the calibration conditions changes, the calibration conditions may also change accordingly. For example, when the target torque calibration range changes, the calibration conditions may also change accordingly.

[0038] In some embodiments, different joint motor types can correspond to different calibration conditions. For example, the joint motor type can be determined based on its structural information. This disclosure does not limit the method for obtaining the joint motor type.

[0039] In some embodiments, calibration conditions corresponding to the target torque calibration range are obtained. The method for obtaining these calibration conditions is not limited. For example, they can be determined based on a condition selection instruction, or they can be obtained from a target torque calibration range and calibration condition correspondence table based on the identified target torque calibration range.

[0040] In step S13, calibration information of each joint motor within the target torque calibration range is obtained based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions. The calibration information is used to adjust the usage parameters of each joint motor within the target torque calibration range.

[0041] In some embodiments, calibration data can be used, for example, as data collected during the calibration of each joint motor. This calibration data is not specifically defined as a fixed value. For example, the calibration data may change when the target torque calibration range changes. Similarly, the calibration data may change when the calibration conditions change.

[0042] In some embodiments, the calibration information may be information obtained after calibrating each joint motor. This calibration information does not refer to any specific fixed information. For example, when the calibration data or calibration conditions change, the calibration information may also change accordingly.

[0043] According to some embodiments, the parameters used may be, for example, parameters obtained by each joint motor during actual use within the target torque calibration range. These parameters are not specifically fixed. For example, the parameters may change when the time point at which they are obtained changes. Similarly, the parameters may change when their specific values ​​change.

[0044] In some embodiments, calibration information of each joint motor within the target torque calibration range can be obtained based on the calibration data of each joint motor within the target torque calibration range and the calibration conditions, wherein the calibration information is used to adjust the operating parameters of each joint motor within the target torque calibration range.

[0045] In some or related embodiments, the calibration process involves obtaining the target torque calibration range for each joint motor in the set of joint motors; obtaining calibration conditions corresponding to the target torque calibration range; and obtaining calibration information for each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions. The calibration information is used to adjust the usage parameters of each joint motor within the target torque calibration range. Therefore, when calibrating joint motors, a corresponding calibration method can be used based on the calibration range in which the joint motor is located. This improves the matching between the calibration method and the current calibration range, eliminates the need for manual plotting of torque and phase current curves, and reduces the possibility of inaccurate joint motor calibration due to manual calibration. This improves the accuracy and efficiency of joint motor calibration.

[0046] Figure 2 This is a flowchart of the second method for calibrating the torque of a joint motor provided in this disclosure embodiment, as shown below. Figure 2 As shown, it includes the following steps: In step S21, the target torque calibration range corresponding to each joint motor in the joint motor set is obtained; In some embodiments, the executing entity of this disclosure may be, for example, an electronic device. This electronic device does not specifically refer to a particular fixed electronic device. For example, when the device identifier changes, the electronic device may also change accordingly. For example, when the structure of the electronic device changes, the electronic device may also change accordingly. In this case, the electronic device executing the entity of this disclosure may be, for example, a robot. For example, when the robot identifier changes, the robot may also change accordingly.

[0047] The relevant processes can be as described above, and will not be repeated here.

[0048] According to some embodiments, the calibration method of this disclosure can also be called a test method for the torque-current relationship of a joint motor. This method is applicable, for example, to joint motors with a reduction ratio of less than 20. Within this speed ratio range, the joint motor exhibits good torque transmission, and the torque feedback or output torque can be accurately calculated using phase current (q-axis current in FOC control). Specifically, the joint motor testing and calibration method of this disclosure applies to the design phase of the joint motor to assess its performance, while the calibration method is applied during the production process to ensure accurate and consistent output torque and torque feedback. This method is suitable for joint motors with a reduction ratio of less than 20, where the joint motor has high efficiency, and the torque-current conversion is relatively accurate and transparent. This disclosure can be used to improve the calibration accuracy of joint motors when the same set of software parameters does not perform consistently during mass production.

[0049] In step S22, the calibration conditions corresponding to the target torque calibration range are obtained; The relevant processes can be as described above, and will not be repeated here.

[0050] In step S23, calibration information of each joint motor in the target torque calibration range is obtained based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions. The calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range. The relevant processes can be as described above, and will not be repeated here.

[0051] According to some embodiments, the calibration method of this disclosure can determine the no-load damping of a joint motor. Specifically, the joint motor drives a speed loop, running the machine without load. The speed gradually increases from 10% of the maximum speed, 20%, to 100%. During each stable speed interval, the joint motor samples at 1000Hz for 2 seconds. The average of the sampled points yields the damping phase current at different no-load speeds, and the corresponding coefficients are written into the joint motor. When the joint motor actually outputs torque, the required phase current is the target torque / torque coefficient + damping phase current. The damping phase current is obtained by looking up a table based on the speed.

[0052] According to some embodiments, the method further includes: Obtain the torque coefficient reduction information of each joint motor; Based on the torque decrease information and the initial torque information, the first torque range and the second torque range are obtained. Therefore, the accuracy of determining the first torque range and the second torque range can be improved, thereby improving the accuracy of torque calibration.

[0053] The maximum torque value corresponding to the first torque range is less than the minimum torque value of the second torque range. The first torque range is not specifically a fixed range. For example, when the torque range corresponding to the first torque range changes, the first torque range may also change accordingly. Similarly, when the method of determining the first and second torque ranges changes, the first torque range may also change accordingly. The first torque range may also be referred to as the medium torque range, and the second torque range may also be referred to as the high torque range.

[0054] In some embodiments, the torque coefficient can be, for example, the electromagnetic torque of the articulated motor output per unit q-axis current. This torque coefficient is not specifically a fixed coefficient. For example, it can change accordingly when the method or timing of obtaining the torque coefficient changes.

[0055] According to some embodiments, the torque coefficient decrease information may be, for example, the torque coefficient decrease information obtained when the torque of each joint motor is gradually increased during the test torque.

[0056] In some embodiments, the initial torque information may be, for example, the bare-metal torque coefficient of the articulated motor, which can be used to indicate the inherent proportion of the torque generated by the electromagnetic field of the articulated motor itself. This initial torque information does not specifically refer to a fixed torque. For example, when the articulated motor changes, this initial torque information may also change accordingly.

[0057] According to some embodiments, for example, the medium torque range and high torque range of the joint motor can be determined. Specifically, the joint motor drive controls the dynamometer loading via a protocol. The joint motor operates in speed mode, and the dynamometer operates in torque mode. The joint motor operates at 10% of its rated speed, and the loading gradually increases from 5% of the joint motor's designed maximum torque. The calculation method for each point during loading is as follows: The torque coefficient of the joint motor at this torque point = feedback torque of the joint motor dynamometer / (average sampled phase current of the joint motor at 2s 1000Hz - damping phase current of the joint motor at the speed change).

[0058] In some embodiments, the winding temperature can be monitored during the test. When the winding temperature reaches the reversible demagnetization temperature of -10 degrees, the dynamometer stops applying torque and cools down to a safe temperature before continuing the test.

[0059] According to some embodiments, the joint motor is tested for torque gradually upwards. When the torque coefficient drops below 95% of the initial torque coefficient, this point marks the dividing line between the high torque range and the medium torque range. Beyond this torque, the joint motor enters the high torque range. In the medium torque range, the torque coefficients of each torque are basically the same, and the average value can be used. The phase current of the joint motor outputting the target torque is calculated by dividing the torque by the torque coefficient.

[0060] According to some embodiments, when controlling the joint motor to identify torque, the damping current at different speeds can be recorded during the no-load stage. During the loading stage, the medium torque region and the high torque region can be identified by the relationship between the heating rate of the winding and the torque current. In the process of analyzing the relationship between current and torque, the temperature of the permanent magnet is always kept below the temperature of reversible demagnetization, thereby ensuring the accuracy of the torque current relationship.

[0061] According to some embodiments, for example, at each point exceeding the medium-to-high torque threshold, the joint motor is loaded from room temperature. As the torque increases, the time for the joint motor winding temperature to reach the threshold temperature gradually shortens. When the temperature drop reaches 5 seconds, this point represents the peak torque of the joint motor. The torque coefficient of the joint motor at different points is recorded, along with the current at the corresponding torque point. When the target output torque c is reached, the torques a and b, and the phase currents a1 and b1 to the left and right of the corresponding point of the joint motor can be found using a lookup table. Then, the phase current c1 at the corresponding point is calculated using interpolation: c1 = (ca) / (ba). b1 + (bc) / (ba) a1.

[0062] According to some embodiments, wherein the target torque calibration range is an unloaded calibration range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain the first calibration data of each joint motor in the no-load calibration range, wherein the first calibration data includes the phase current data of each joint motor at each no-load speed in the no-load speed set; If the phase current data at each no-load speed does not meet the calibration conditions corresponding to the no-load calibration interval, the no-load damping coefficient of each joint motor is acquired and recorded.

[0063] In some embodiments, the no-load damping coefficient can be obtained by looking up a table when the joint motor is actually in use, and then multiplied by the corresponding no-load damping coefficient.

[0064] According to some embodiments, the first calibration data may be, for example, calibration data obtained during an unloaded calibration period. This first calibration data does not specifically refer to a fixed value. For example, when the joint motor changes, the first calibration data may also change accordingly.

[0065] According to some embodiments, in the no-load range, each joint motor is tested at 10%, 50%, and 100% no-load speed. The phase current of the joint motor is compared with the batch captured phase current data. If the phase current is lower than 150% of the captured data, it passes; otherwise, it is judged as a defective product. For the joint motor that passes, the no-load damping coefficient at each speed point is calculated. The no-load damping coefficient = current no-load damping current / no-load damping current inside the joint motor. The average value of the coefficients at the three points can be recorded inside each joint motor. When each joint motor is used later, the current limit is found by looking up a table and then multiplied by the corresponding coefficient.

[0066] According to some embodiments, wherein the target torque calibration range is a first torque range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain second calibration data for each joint motor in a first torque range, wherein the second calibration data includes a first torque coefficient for each joint motor at each first torque point in a first torque point set, the first torque coefficient being a torque coefficient obtained based on the test torque at each first torque point and the current information of each joint motor, and the first torque point set corresponding to the first torque range; Based on the first torque coefficient, the first proportional coefficient of each joint motor in the first torque range is obtained.

[0067] In some embodiments, the second calibration data may be, for example, calibration data obtained within the first torque range. For instance, the second calibration data may also change accordingly when the joint motor changes. For example, when a modification instruction for the data type of the calibration data is received, and calibration data corresponding to the data type is obtained according to the modification instruction, the second calibration data may also change accordingly.

[0068] According to some embodiments, within the medium torque range, the joint motor controls the dynamometer to collect torque data at 3-4 points at 10% of the rated speed, calculates the torque coefficient at each point, and then calculates the proportional coefficient for the medium torque range. The proportional coefficient is calculated as: current torque coefficient / batch collected torque coefficient. The average value is then taken to obtain the joint motor's proportional coefficient, i.e., the first proportional coefficient, which is written into the joint motor. In actual use, the joint motor's internal torque coefficient can be multiplied by the proportional coefficient. If the proportional coefficient deviation exceeds 20%, the joint motor is deemed unqualified.

[0069] According to some embodiments, wherein the target torque calibration range is a second torque range, and the step of obtaining calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions includes: Obtain third calibration data for each joint motor in the second torque range, wherein the third calibration data includes a second torque coefficient for each joint motor at each second torque point in the second torque point set, the second torque point set corresponding to the second torque range, and obtain a second proportional coefficient for each joint motor in the second torque range based on the second torque coefficient; or... The first proportional coefficient is used as the calibration information for each joint motor in the second torque range.

[0070] According to some embodiments, in the high torque range, the joint motor heats up quickly. To improve calibration accuracy, flexible configurations can be implemented. To reduce calibration time, for example, the torque points recorded internally by the joint motor can be multiplied by a torque scaling factor, and then used in conjunction with a lookup table. If the batch calibration time can be appropriately extended, the first four points in the high torque range can be tested, the high torque scaling factor can be calculated, and then multiplied by the internal torque points in conjunction with a lookup table.

[0071] According to some embodiments, the torque calibration process is divided into three intervals. In the no-load interval, the damping at different speeds is calibrated. In the medium torque interval, the torque-current at 3-4 points is tested. Since it is a non-magnetic saturation region, a linear fitting method can be used. At the same time, its data can also characterize the torque characteristics of the high torque region. If the calibration time is sufficient, a point measurement method is used in the high torque region to test the torque-current relationship of the high torque region at 3-4 points at the low torque position. During the test, the winding temperature must be kept below the reversible demagnetization temperature.

[0072] According to some embodiments, the method further includes: During the calibration process of each joint motor, the winding temperature of each joint motor is obtained; If the winding temperature does not meet the temperature requirements, the calibration operation of each joint motor shall be stopped. Therefore, calibration operations can be suspended if the winding temperature of each joint motor does not meet the temperature requirements, thereby improving the safety of the calibration of each joint motor.

[0073] In step S24, when each joint motor is in operation and under the target operating condition, the joint motor temperature of each joint motor is obtained. The relevant processes can be as described above, and will not be repeated here.

[0074] In some embodiments, the operating state may be that each joint motor is in actual use. The target operating condition may be that each joint motor corresponds to a certain load. When the load information changes, the target operating condition may also change accordingly.

[0075] In some embodiments, the joint motor temperature may be the joint motor temperature obtained during the operation of each joint motor. This joint motor temperature does not specifically refer to a fixed temperature. For example, if the time point at which the temperature is obtained changes, the joint motor temperature may also change accordingly.

[0076] In step S25, the first heat value corresponding to each joint motor is obtained based on the joint motor temperature, protection temperature and ambient temperature of each joint motor; The relevant processes can be as described above, and will not be repeated here.

[0077] In some embodiments, the protection temperature may also be referred to as a preset temperature, which is used to protect the joint motors.

[0078] According to some embodiments, the first heat value may be, for example, a heat value calculated during the operation of each joint motor. This first heat value does not specifically refer to a fixed heat value. For example, the first heat value may also change accordingly when the method of obtaining the first heat value changes.

[0079] In step S26, if the first heat value meets the stall detection condition, it is determined that each joint motor is in a stall state, and thermal protection operation is performed on the stall state of each joint motor according to the second heat value and the heating power of the first joint motor. The second heat value is the heat value obtained when each joint motor is subjected to a preset load and reaches the protection temperature, and the heating power of the first joint motor corresponds to the joint motor temperature and the current of each joint motor.

[0080] The relevant processes can be as described above, and will not be repeated here.

[0081] In some embodiments, the articulated motor is energized and given a drive signal, but the shaft is jammed by an external force and cannot rotate at all, leaving the rotor stationary. This state is called a stalled rotor. Stall detection conditions can be, for example, conditions used to determine whether the articulated motor is in a stalled state.

[0082] According to some embodiments, the second heat value may be, for example, the heat value obtained when the motors of each joint are subjected to a preset load and reach a protective temperature. For example, the second heat value may also change accordingly when the preset load changes.

[0083] According to some embodiments, the method further includes: When a preset load is applied to each joint motor, the maximum heat generation location of the phase where the thermistor of each joint motor is located is obtained, and a stall operation is performed at the maximum heat generation location to obtain the first cooling time of each joint motor, wherein the first cooling time is the cooling time of each joint motor from ambient temperature to protection temperature under peak phase current. The second cooling time and the third cooling time of each joint motor are obtained, wherein the second cooling time is the cooling time of each joint motor from the preset temperature to the ambient temperature, and the third cooling time is the cooling time corresponding to each degree of temperature drop during the process of each joint motor from the preset temperature to the ambient temperature. The heating coefficient corresponding to each temperature is obtained based on the current corresponding to each temperature and the first cooling time. Based on the heating coefficient, the second cooling time, and the third cooling time, the second joint motor heating power corresponding to each joint motor is obtained, and the joint motor heating power corresponds to each temperature and the current corresponding to each temperature.

[0084] In some embodiments, the articulated motor may also require thermal calibration. The articulated motor hardware sampling typically uses a single thermistor, meaning it can only collect the temperature of one phase out of three. When the articulated motor is stalled, the three phases heat up unevenly, making it inaccurate to judge the motor's heat output based on the thermistor of only one phase. The articulated motor needs to calculate the temperature of each phase separately through current integration. The rate of current integration depends on the current magnitude and also on the heat dissipation environment, which needs to be automatically identified by a calibration algorithm. The logic for the articulated motor stalled thermal integration and thermal calibration may include, for example: The first step is to obtain the peak torque of the joint motor using the method described above. The peak torque has little correlation with the joint motor's heat dissipation system. At this point, the instantaneous heat generation of the joint motor is much greater than the heat dissipation, and the heat dissipation has little impact on the system's heat accumulation.

[0085] The second step involves applying a certain load to the joint motor in the corresponding application system using position mode to determine the location of maximum heat generation in the phase where the thermistor of the joint motor is located. This location is then used for a stall test. The output terminal is locked at the corresponding position, and the joint motor internally records the time ta from ambient temperature to the protection temperature under the peak phase current Ia.

[0086] The third step is to record the cooling time ttemperaturen from high temperature to ambient temperature after thermal protection of the joint motor, and the total cooling time ttemperaturetotal.

[0087] The fourth step involves an internal timer in the joint motor that divides the time into multiple equal parts at intervals t0, setting a total heat value T0, which is Ia. Ia (ta / t0), the heat accumulated by the joint motor in time t0 is heat generation minus heat dissipation, i.e., Tgenerated - Tdissipated, where Tgenerated is the heat generation coefficient of the joint motor, which is the square of the phase current I at the corresponding time. The heat generation coefficient of the peak current is Tgenerateda, and Tdissipated is the heat dissipation coefficient of the joint motor. The heat dissipation coefficient is calculated as Tdissipatedn = Tgenerateda. ttemperaturen / ttotal, where n is the heat dissipation coefficient at the corresponding temperature n, then the heat dissipation power of the joint motor at the corresponding temperature and joint motor current is Theat - Tdissipation, at which point the joint motor calibration is complete.

[0088] The fifth step is to perform self-calibration. The joint motor is retested under the above operating conditions, and the corresponding thermal model is calculated internally. When the protection temperature is reached, the heat value that the model can calculate is T2. Then the proportional coefficient is z=T0 / T2. Then multiply T by the corresponding proportional coefficient and retest. After about 2-3 times, the difference between the heat value obtained by the model and the actual heat value is less than the heat difference threshold. The protection threshold T0 can be multiplied by 95% to set a certain margin to increase the reliability of the joint motor.

[0089] According to some embodiments, when the joint motor is running in a rotating output condition, the three phases generate heat evenly. The joint motor algorithm will calculate a basic heat value, i.e., a first heat value. If the joint motor temperature is T1, the calibrated basic ambient temperature is T_ring, and the protection temperature is T_protection, then the basic heat value T3 is T3 = T0. (T1-T ring) / (T protection-T ring), when the joint motor enters a stall state through position detection, the T generator-T diffuser is integrated based on T2 to provide thermal protection against the stall.

[0090] A block diagram illustrating a calibration device for a joint motor torque according to an exemplary embodiment. (Refer to...) Figure 3 The device 300 includes: The interval acquisition unit 301 is used to acquire the target torque calibration interval corresponding to each joint motor in the joint motor set; The condition acquisition unit 302 is used to acquire the calibration conditions corresponding to the target torque calibration range; The device calibration unit 303 is used to obtain calibration information of each joint motor in the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions, wherein the calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range.

[0091] According to some embodiments, where the target torque calibration range is an unloaded calibration range, the device calibration unit 303, when acquiring the calibration information of each joint motor within the target torque calibration range based on the calibration data of each joint motor within the target torque calibration range and the calibration conditions, is specifically used for: Obtain the first calibration data of each joint motor in the no-load calibration range, wherein the first calibration data includes the phase current data of each joint motor at each no-load speed in the no-load speed set; If the phase current data at each no-load speed does not meet the calibration conditions corresponding to the no-load calibration interval, the no-load damping coefficient of each joint motor is acquired and recorded.

[0092] According to some embodiments, where the target torque calibration range is a first torque range, the device calibration unit 303, when acquiring calibration information of each joint motor within the target torque calibration range based on calibration data of each joint motor within the target torque calibration range and the calibration conditions, is specifically used for: Obtain second calibration data for each joint motor in a first torque range, wherein the second calibration data includes a first torque coefficient for each joint motor at each first torque point in a first torque point set, the first torque coefficient being a torque coefficient obtained based on the test torque at each first torque point and the current information of each joint motor, and the first torque point set corresponding to the first torque range; Based on the first torque coefficient, the first proportional coefficient of each joint motor in the first torque range is obtained.

[0093] According to some embodiments, where the target torque calibration range is a second torque range, the device calibration unit 303, when acquiring calibration information of each joint motor within the target torque calibration range based on calibration data of each joint motor within the target torque calibration range and the calibration conditions, is specifically used for: Obtain third calibration data for each joint motor in the second torque range, wherein the third calibration data includes a second torque coefficient for each joint motor at each second torque point in the second torque point set, the second torque point set corresponding to the second torque range, and obtain a second proportional coefficient for each joint motor in the second torque range based on the second torque coefficient; or... The first proportional coefficient is used as the calibration information for each joint motor in the second torque range.

[0094] According to some embodiments, the device calibration unit 303 is also specifically used for: Obtain the torque coefficient reduction information of each joint motor; Based on the torque reduction information and the initial torque information, the first torque range and the second torque range are obtained.

[0095] According to some embodiments, the device calibration unit 303 is also specifically used for: During the calibration process of each joint motor, the winding temperature of each joint motor is obtained; If the winding temperature does not meet the temperature requirements, stop the calibration operation of each joint motor.

[0096] According to some embodiments, the device calibration unit 303 is also specifically used for: When each joint motor is in operation and under the target operating condition, the joint motor temperature of each joint motor is obtained. Based on the joint motor temperature, protection temperature and ambient temperature of each joint motor, the first heat value corresponding to each joint motor is obtained. If the first heat value meets the stall detection condition, it is determined that each joint motor is in a stall state. Based on the second heat value and the heating power of the first joint motor, thermal protection operation is performed on the stall state of each joint motor. The second heat value is the heat value obtained when each joint motor is subjected to a preset load and reaches the protection temperature. The heating power of the first joint motor corresponds to the joint motor temperature and the current of each joint motor.

[0097] According to some embodiments, the device calibration unit 303 is also specifically used for: When a preset load is applied to each joint motor, the maximum heat generation location of the phase where the thermistor of each joint motor is located is obtained, and a stall operation is performed at the maximum heat generation location to obtain the first cooling time of each joint motor, wherein the first cooling time is the cooling time of each joint motor from ambient temperature to protection temperature under peak phase current. The second cooling time and the third cooling time of each joint motor are obtained, wherein the second cooling time is the cooling time of each joint motor from the preset temperature to the ambient temperature, and the third cooling time is the cooling time corresponding to each degree of temperature drop during the process of each joint motor from the preset temperature to the ambient temperature. The heating coefficient corresponding to each temperature is obtained based on the current corresponding to each temperature and the first cooling time. Based on the heating coefficient, the second cooling time, and the third cooling time, the second joint motor heating power corresponding to each joint motor is obtained, and the joint motor heating power corresponds to each temperature and the current corresponding to each temperature.

[0098] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0099] Figure 4A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device 400 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0100] like Figure 4 As shown, the electronic device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. The RAM 403 may also store various programs and data required for the operation of the electronic device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0101] Multiple components in electronic device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of displays, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows electronic device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0102] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above. For example, in some embodiments, the above methods can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the methods described above can be performed. Alternatively, in other embodiments, the computing unit 401 can be configured to perform the above methods by any other suitable means (e.g., by means of firmware).

[0103] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0105] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0107] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0108] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0109] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0110] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for calibrating the torque of a joint motor, characterized in that, include: Obtain the target torque calibration range for each joint motor in the joint motor set; Obtain the calibration conditions corresponding to the target torque calibration range; Based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions, the calibration information of each joint motor in the target torque calibration range is obtained, wherein the calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range.

2. The method according to claim 1, characterized in that, in, The target torque calibration range is an unloaded calibration range. The step of obtaining calibration information for each joint motor within the target torque calibration range based on the calibration data of each joint motor within the target torque calibration range and the calibration conditions includes: Obtain the first calibration data of each joint motor in the no-load calibration range, wherein the first calibration data includes the phase current data of each joint motor at each no-load speed in the no-load speed set; If the phase current data at each no-load speed does not meet the calibration conditions corresponding to the no-load calibration interval, the no-load damping coefficient of each joint motor is acquired and recorded.

3. The method according to claim 1, characterized in that, in, The target torque calibration range is a first torque range. The step of obtaining calibration information for each joint motor within the target torque calibration range based on the calibration data of each joint motor within the target torque calibration range and the calibration conditions includes: Obtain second calibration data for each joint motor in a first torque range, wherein the second calibration data includes a first torque coefficient for each joint motor at each first torque point in a first torque point set, the first torque coefficient being a torque coefficient obtained based on the test torque at each first torque point and the current information of each joint motor, and the first torque point set corresponding to the first torque range; Based on the first torque coefficient, the first proportional coefficient of each joint motor in the first torque range is obtained.

4. The method according to claim 3, characterized in that, in, The target torque calibration range is a second torque range. The step of obtaining calibration information for each joint motor within the target torque calibration range based on the calibration data of each joint motor within the target torque calibration range and the calibration conditions includes: Obtain third calibration data for each joint motor in the second torque range, wherein the third calibration data includes a second torque coefficient for each joint motor at each second torque point in the second torque point set, the second torque point set corresponding to the second torque range, and obtain a second proportional coefficient for each joint motor in the second torque range based on the second torque coefficient; or... The first proportional coefficient is used as the calibration information for each joint motor in the second torque range.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the torque coefficient reduction information of each joint motor; Based on the torque reduction information and the initial torque information, the first torque range and the second torque range are obtained.

6. The method according to claim 5, characterized in that, The method further includes: During the calibration process of each joint motor, the winding temperature of each joint motor is obtained; If the winding temperature does not meet the temperature requirements, stop the calibration operation of each joint motor.

7. The method according to claim 1, characterized in that, The method further includes: When each joint motor is in operation and under the target operating condition, the joint motor temperature of each joint motor is obtained. Based on the joint motor temperature, protection temperature and ambient temperature of each joint motor, obtain the first heat value corresponding to each joint motor; If the first heat value meets the stall detection condition, it is determined that each joint motor is in a stall state. Based on the second heat value and the heating power of the first joint motor, thermal protection operation is performed on the stall state of each joint motor. The second heat value is the heat value obtained when each joint motor is subjected to a preset load and reaches the protection temperature. The heating power of the first joint motor corresponds to the joint motor temperature and the current of each joint motor.

8. The method according to claim 7, characterized in that, The method further includes: When a preset load is applied to each joint motor, the maximum heat generation location of the phase where the thermistor of each joint motor is located is obtained, and a stall operation is performed at the maximum heat generation location to obtain the first cooling time of each joint motor, wherein the first cooling time is the cooling time of each joint motor from ambient temperature to protection temperature under peak phase current. The second cooling time and the third cooling time of each joint motor are obtained, wherein the second cooling time is the cooling time of each joint motor from the preset temperature to the ambient temperature, and the third cooling time is the cooling time corresponding to each degree of temperature drop during the process of each joint motor from the preset temperature to the ambient temperature. The heating coefficient corresponding to each temperature is obtained based on the current corresponding to each temperature and the first cooling time. Based on the heating coefficient, the second cooling time, and the third cooling time, the second joint motor heating power corresponding to each joint motor is obtained, and the joint motor heating power corresponds to each temperature and the current corresponding to each temperature.

9. A calibration device for the torque of a joint motor, characterized in that, include: The interval acquisition unit is used to acquire the target torque calibration interval corresponding to each joint motor in the joint motor set; The condition acquisition unit is used to acquire the calibration conditions corresponding to the target torque calibration range; The device calibration unit is used to obtain calibration information of each joint motor in the target torque calibration range based on the calibration data of each joint motor in the target torque calibration range and the calibration conditions, wherein the calibration information is used to adjust the usage parameters of each joint motor in the target torque calibration range.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the calibration method for the joint motor torque as described in any one of claims 1 to 8.

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