CN112207819B - Robot, joint control method thereof, and joint control device - Google Patents
Robot, joint control method thereof, and joint control device Download PDFInfo
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- CN112207819B CN112207819B CN202010896130.3A CN202010896130A CN112207819B CN 112207819 B CN112207819 B CN 112207819B CN 202010896130 A CN202010896130 A CN 202010896130A CN 112207819 B CN112207819 B CN 112207819B
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- 238000004590 computer program Methods 0.000 claims description 18
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- 210000000629 knee joint Anatomy 0.000 description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application is suitable for the technical field of robots and provides a robot and a joint control method and a joint control device thereof, wherein a driving control part is arranged at a target joint of the robot, an elastic control part is connected in parallel at the driving control part, a parallel elastic driver is formed by the driving control part and the elastic control part, and the joint control method comprises the following steps: acquiring a target motion track of a target joint; acquiring target torque required by the movement of a target joint when the elastic control is in a return stroke stage based on the target movement track; and controlling the parallel elastic drivers to output the target torque. Through the method and the device, the problem that the driving control of the robot in the prior art lacks sufficient driving capability and restricts the movement capability of the robot can be solved.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot and a joint control method and a joint control device thereof.
Background
With the development of the robot technology, the types of robots are increasing, for example, robots capable of walking, such as biped robots, quadruped robots, and humanoid robots, can control the motions of each joint through driving controls, such as a steering engine and a motor, and can realize the walking and related motions of the robots. However, when the walking speed of the robot is increased, due to the limitation of the available power of the robot, the driving control of the robot usually lacks sufficient driving capability, which restricts the moving capability of the robot.
Disclosure of Invention
The application provides a robot, a joint control method and a joint control device thereof, and aims to solve the problem that in the prior art, a drive control of the robot lacks sufficient drive capacity and restricts the motion capability of the robot.
In a first aspect, an embodiment of the present application provides a joint control method for a robot, where a drive control is set at a target joint of the robot, an elastic control is connected in parallel at the drive control, and the drive control and the elastic control form a parallel elastic driver, where the joint control method includes:
acquiring a target motion track of the target joint;
acquiring a target moment required by the movement of the target joint when the elastic control is in a return stage based on the target movement track;
and controlling the parallel elastic driver to output the target torque.
In a second aspect, an embodiment of the present application provides a joint control apparatus for a robot, where a driving control is disposed at a target joint of the robot, an elastic control is connected in parallel at the driving control, and the driving control and the elastic control form a parallel elastic driver, the joint control apparatus includes:
the track acquisition module is used for acquiring a target motion track of the target joint;
the target acquisition module is used for acquiring target torque required by the movement of the target joint when the elastic control is in a return stroke stage based on the target movement track;
and the driver control module is used for controlling the parallel elastic driver to output the target torque.
In a third aspect, the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the robot further including a parallel elastic driver, and the processor implementing the steps of the joint control method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the joint control method according to the first aspect.
In a fifth aspect, the present application provides a computer program product, which, when run on a robot, causes the robot to perform the steps of the joint control method according to the first aspect.
Therefore, the elastic control is connected in parallel at the driving control of the target joint of the robot, and the driving control and the elastic control can form the parallel elastic driver, so that when the elastic control is in a return stage, the driving control and the elastic control in the parallel elastic driver can provide torque for the movement of the target joint together, the driving capability of the robot is increased, and the restriction on the movement capability of the robot is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an implementation of a joint control method of a robot according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of a parallel spring driver;
FIG. 3a is an exemplary illustration of a joint angle of a knee joint;
FIG. 3b is a gait condition of both feet of the robot during a swing phase;
fig. 4 is a schematic flow chart of an implementation of a joint control method of a robot according to a second embodiment of the present application;
FIG. 5 is an exemplary graph of the relationship of the desired torque, the drive control torque, and the spring control torque when the spring control is in the return phase;
fig. 6 is a schematic structural diagram of a joint control device of a robot according to a third embodiment of the present application;
fig. 7 is a schematic structural diagram of a robot according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of this embodiment.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, which is a schematic flow chart illustrating an implementation process of a joint control method of a robot according to an embodiment of the present application, where the joint control method is applied to a robot, and as shown in the figure, the joint control method may include the following steps:
In this embodiment, the motion of the joint of the robot is usually realized through the drive control, that is, the drive control is arranged at the joint to realize the motion of the joint, in order to increase the driving capability of the robot, the elastic control can be connected in parallel at the drive control of the joint, so as to form a parallel elastic driver, and an additional torque is provided for the joint through the elastic control, so that the problem that the power torque output by the drive control cannot meet the motion of the joint is solved. The driving control can be a control capable of driving the joint to move, and includes but is not limited to a steering engine, a motor and the like; the elastic control may refer to a control capable of deforming, including but not limited to a spring. As shown in fig. 2, which is an exemplary diagram of a parallel elastic driver, as can be seen from fig. 2, the parallel elastic driver includes a driving control and an elastic control, and the elastic control is connected in parallel with the driving control (i.e., one end of the elastic control is connected to an input end of the driving control, and the other end of the elastic control is connected to an output end of the driving control).
The target joint may be a joint in which the driving control and the elastic control jointly provide torque during movement. The torque output by the drive control may power the motion of the target joint. The moment output by the elastic control can provide power for the movement of the target joint and can also provide resistance for the movement of the target joint, wherein when the elastic control releases energy, the moment output by the elastic control provides power for the movement of the target joint, and when the elastic control absorbs energy, the moment output by the elastic control provides resistance for the movement of the target joint.
Alternatively, the user may select a target joint from all joints of the robot according to actual needs, for example, the target joint is a knee joint, a hip joint, and the like, and is not limited herein.
The target motion trajectory of the target joint may refer to a change of a joint angle of the target joint with time during motion, and the joint angle required by the target joint during motion may be acquired from the target motion trajectory. The joint angle of the target joint may be an included angle between an extension line from an upper limb of the target joint to the ground and a lower limb of the target joint, taking the knee joint as an example, the upper limb of the knee joint is a thigh, and the lower limb of the knee joint is a calf, so the joint angle of the knee joint is an included angle between the extension line from the thigh to the ground and the calf, as shown in fig. 3a, the joint angle of the knee joint is an example of the joint angle of the knee joint, in fig. 3a, a dotted line leg is a right leg, and a solid line leg is a left leg.
In this embodiment, the robot may acquire a target motion trajectory of a target joint when receiving the motion instruction. The motion instruction may be generated by a user through a preset operation trigger on a control panel of the robot (for example, the robot generates the motion instruction when detecting that the user clicks a motion option on the control panel), or may be sent by another device connected to the robot (for example, the robot is connected to a mobile phone via bluetooth, and sends the motion instruction to the robot via the mobile phone), which is not limited herein. The motion command is used to instruct a target joint motion of the robot, and the target joint motion can be also understood as a robot motion since the motion of the robot is realized by the motion of each joint.
And 102, acquiring a target moment required by the movement of the target joint when the elastic control is in a return stroke stage based on the target movement track.
The target torque is a power torque required to achieve movement of the target joint.
In this embodiment, according to whether the elastic control releases energy or absorbs energy in the motion process of the target joint, the stroke of the elastic control may be divided into two phases, namely a return phase and a process phase, where when the elastic control is in the return phase, the elastic control releases energy to provide power for the motion of the target joint, and when the elastic control is in the process phase, the elastic control absorbs energy to provide resistance for the motion of the target joint. The return stage can be a stage in which the elastic control provides power for the target joint, and can also be understood as a stage in which the elastic control releases energy; the process stage may be a stage in which the elastic control provides resistance for the target joint, and may also be understood as a stage in which the elastic control absorbs energy.
Taking a knee joint as an example, a return stage and a process stage of an elastic control are illustrated, when a robot walks, a leg playing a supporting role is called a supporting leg, a leg swinging in the air is called a swinging leg, as shown in fig. 3b, the gait condition of the two feet of the robot in a swinging period is shown, a right leg is taken as a supporting leg (a dotted line leg in fig. 3 b), a left leg is taken as a swinging leg (a solid line leg in fig. 3 b), and because the acceleration of the supporting leg is small, and a large moment is not needed during the movement, the movement of the knee joint of the swinging leg is divided into two stages, namely the return stage of the elastic control and the process stage of the elastic control, specifically:
(1) when the swing leg is close to the supporting leg, the knee joint angle theta is increased, the gravity center of the swing leg is raised, the elastic control releases energy at the moment, and the process can be defined as a return stroke stage;
(2) when the swing leg is far away from the supporting leg, the knee joint angle theta is reduced, the gravity center of the swing leg descends, the elastic control stores energy at the moment, and the process can be defined as a process stage.
When the elastic control is in the process stage, the energy generated by collision between the swing legs and the ground and the energy generated by the gravity of the swing legs are absorbed, and the walking stability of the robot is improved.
When the elastic control is in the return stroke stage, the energy absorbed in the process stage is released, the power torque output by the driving control can be reduced, and the driving capability of the parallel elastic control is increased.
Optionally, based on the target motion trajectory, acquiring the target moment required by the motion of the target joint when the elastic control is in the return phase includes:
acquiring a target joint angle required by the movement of a target joint when the elastic control is in a return stroke stage based on the target movement track;
and acquiring target torque according to the target joint angle.
In this embodiment, since the target motion trajectory describes the change of the joint angle of the target joint with time during the motion, based on the target motion trajectory, the joint angle (i.e., the target joint angle) required by the target joint during the motion can be acquired, and the target moment corresponding to the target joint angle can be calculated according to the target joint angle and the moment function. The moment function is used for describing a mapping relation between a joint angle of a target joint and a moment required by the target joint during movement, namely describing the mapping relation between the target joint angle and the target moment, and substituting the target joint angle into the moment function to calculate the target moment corresponding to the target joint angle.
And 103, controlling the parallel elastic driver to output a target torque.
And the target torque is output by the driving control and the elastic control together.
In this embodiment, in the motion process of the target joint, if the elastic control is in the return stage, it is determined that the torque output by the elastic control provides power for the motion of the target joint, and at this time, the driving control and the elastic control can provide torque for the motion of the target joint together, so that sufficient driving capability can be provided for the motion of the target joint, and the restriction on the motion capability of the robot is reduced.
Optionally, controlling the parallel elastic driver to output the target torque comprises:
acquiring a first moment to be output by the elastic control according to the target joint angle;
acquiring a second moment required to be output by the driving control according to the target moment and the first moment;
and controlling the elastic control to output a first torque and controlling the driving control to output a second torque, wherein the sum of the first torque and the second torque is a target torque.
In this embodiment, the elastic coefficient and the initial moment of the elastic control installed at the drive control of the target joint may be stored in advance in the storage device of the robot, and when the first moment to be output by the elastic control is obtained, the elastic coefficient and the initial moment of the elastic control may be obtained from the storage device of the robot first, and then the first power moment τ to be output by the elastic control may be calculated according to the angle of the target joint, the elastic coefficient and the initial moment of the elastic controlpK θ + m. Wherein, taupIs a first moment; theta is a target joint angle; k is the elastic coefficient of the elastic control, the unit is Newton-meter/radian, and the size of k can be adjusted by replacing the elastic control; m is the initial moment of the elastic control piece, the unit is Newton x meter, the size of the initial moment can be adjusted by updating the installation position of the elastic control piece, and the initial moment m of the elastic control piece is-k x theta0The expression that the elastic control is arranged at the joint angle theta0The position of (a).
After the first torque required to be output by the elastic control is obtained, the first torque is subtracted from the target torque, and the obtained difference is determined to be the second torque required to be output by the driving control.
According to the embodiment of the application, the elastic control is connected in parallel at the driving control of the target joint of the robot, and the elastic driver connected in parallel can be formed by the driving control and the elastic control, so that when the elastic control is in a return stroke stage, the driving control and the elastic control in the elastic driver connected in parallel can provide torque for the movement of the target joint, the driving capability of the robot is increased, and the restriction on the movement capability of the robot is reduced.
Referring to fig. 4, it is a schematic flow chart of an implementation of a joint control method of a robot provided in the second embodiment of the present application, where the joint control method is applied to a robot, and as shown in the figure, the joint control method may include the following steps:
The elastic coefficient is used for selecting the elastic control, and the initial moment is used for reflecting the installation position of the elastic control at the driving control.
In this embodiment, before the elastic controls are connected in parallel to the driving controls, the required elastic controls and the installation positions of the elastic controls at the driving controls need to be determined first, the elastic coefficients of different elastic controls are different, so that the elastic coefficients need to be determined first, and the corresponding elastic controls are selected according to the elastic coefficients, so that the elastic controls are selected.
Optionally, determining the elastic coefficient and the initial moment of the elastic control comprises:
obtaining a test motion track of a target joint;
based on the test motion track, acquiring an initial joint angle, a termination joint angle, initial time corresponding to the initial joint angle and termination time corresponding to the termination joint angle of the target joint when the elastic control is in a return stage;
acquiring the moment of the elastic control and the expected moment of the target joint according to the test joint angle of the target joint when the elastic control is in a return stroke stage, wherein the initial joint angle and the termination joint angle are both the test joint angles, and the moment of the elastic control refers to the moment output by the elastic control;
acquiring a driving control moment according to the expected moment and the elastic control moment;
and acquiring the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time and the moment of the driving control.
The test motion trail and the target motion trail of the target joint refer to the change of the joint angle of the target joint along with time when the target joint moves, the test motion trail is used for determining the elastic coefficient and the initial moment of the elastic control and is applied to the motion test process of the robot, and the target motion trail is applied to the actual motion process of the robot.
At the same time, the joint angle corresponding to the test motion trajectory may be the same as the joint angle corresponding to the target motion trajectory or may be different from the joint angle corresponding to the target motion trajectory. The elastic coefficient and the initial moment of the elastic control are determined based on the test motion trail, so that when the corresponding joint angles in the target motion trail are different, the maximum moment which can be output by the elastic control when the target joint moves based on the target motion trail is required not to exceed the maximum moment which can be output by the elastic control when the target joint moves based on the test motion trail, and the elastic control can meet the moment requirement of the target motion trail on the elastic control.
The initial joint angle of the target joint is the joint angle of the target joint at the beginning of the return phase; the termination joint angle of the target joint is the joint angle of the target joint at the end of the return phase; the initial time corresponding to the initial joint angle is the starting time of the return phase; the termination time corresponding to the termination joint angle is the termination time of the return phase; the test joint angle of the target joint refers to the joint angle of the target joint in the return phase; the desired torque of the target joint may be a torque required when the target joint moves, and in order to ensure that the movement of the target joint meets requirements, the torque output by the parallel elastic driver is generally required to reach the desired torque.
In this embodiment, the expected moment corresponding to the test joint angle may be calculated according to the test joint angle of the target joint and the moment function. Wherein the moment function is used for describing the targetThe mapping relation between the joint angle of the joint and the torque required by the target joint during motion is described, that is, the mapping relation between the test joint angle and the expected torque is described, the test joint angle is substituted into the torque function, and the expected torque corresponding to the test joint angle, such as the expected torque tau, can be calculated*＝f(θ)，τ*Represents the expected moment, theta represents the test joint angle, and f (·) represents the moment function.
If the angle of the tested joint is theta, the elastic coefficient of the elastic control is k, and the initial moment of the elastic control is m, the moment tau of the elastic control can be obtained through calculationpIn the expression of the elastic control moment, theta is a known quantity, and k and m are unknown quantities; according to desired moment tau*And spring control moment taupAnd the moment tau of the driving control can be obtained by calculationc＝τ*-τp(ii) a K and m can be obtained according to the initial time, the termination time and the moment of the driving control, so that the elastic control and the installation position of the elastic control at the driving control are selected.
Optionally, obtaining the spring coefficient and the initial torque of the elastic control according to the initial time, the end time, and the torque of the driving control includes:
obtaining the amplitude sum of the moment of the drive control output by the drive control in a target time period according to the initial time, the termination time and the moment of the drive control, wherein the target time period is a time period from the initial time to the termination time;
and when the sum of the amplitudes of the moments of the driving controls is minimum, the elastic coefficient and the initial moment of the elastic controls are obtained.
Wherein the sum of the amplitudes of the drive control moments output by the drive control in the target time period is
t1As an initial time, t2For the termination time, the relationship between the expected torque and the test joint angle, the sum of the amplitudes of the drive control torques (i.e. the sum of the amplitudes of the drive control torques when the elastic control is in the return phase) can be taken as an objective function,And obtaining the elastic coefficient k and the initial moment m of the elastic control by adopting a preset optimization algorithm according to the target function and the constraint condition, wherein the relation between the moment of the elastic control and the angle of the test joint and the relation between the expected moment, the moment of the drive control and the moment of the elastic control when the elastic control is in a return stroke stage are used as the constraint condition. The preset optimization algorithm includes, but is not limited to, a genetic algorithm, a particle swarm algorithm, a nonlinear optimization algorithm, and the like.
In one embodiment, the objective function is to minimize the sum of the magnitudes of the drive control moments when the spring control is in the return phase
The constraint conditions are as follows:
relationship of desired moment to test joint angle: tau is*＝f(θ)；
The relationship between the moment of the elastic control and the angle of the tested joint is as follows: tau isp＝k*θ+m；
The relation among the expected torque, the driving control torque and the elastic control torque when the elastic control is in a return stroke stage is as follows: tau.c＝τ*-τp. Optionally, before obtaining the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time, and the moment of the driving control, the method further includes:
acquiring the movement speed of a target joint;
correspondingly, obtaining the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time and the moment of the driving control comprises:
acquiring the total power output by the driving control in a target time period according to the initial joint angle, the termination joint angle, the initial time, the termination time and the movement speed;
and acquiring the elastic coefficient and the initial moment of the elastic control when the sum of the powers is minimum.
The motion speed of the target joint in the motion process can be acquired through a speed sensor arranged on the robot, and the sum of the power output by the driving control in the target time period is
For the movement speed of the target joint, the minimized power sum (i.e., the minimized power sum output by the drive control when the elastic control is in the return phase) may be used as a target function, the relationship between the expected torque and the test joint angle, the relationship between the torque of the elastic control and the test joint angle, and the relationship between the expected torque, the torque of the drive control and the torque of the elastic control when the elastic control is in the return phase may be used as constraint conditions, and according to the target function and the constraint conditions, a preset optimization algorithm may be used to obtain the elastic coefficient k and the initial torque m of the elastic control. The preset optimization algorithm includes, but is not limited to, a genetic algorithm, a particle swarm algorithm, a nonlinear optimization algorithm, and the like.
In another embodiment, the objective function is to minimize the sum of the power output by the drive control when the elastic control is in the backhaul phase
The constraint conditions are as follows:
expected torque versus test joint angle: tau is*＝f(θ)；
The relationship between the moment of the elastic control and the angle of the tested joint is as follows: tau isp＝k*θ+m；
The relation among the expected torque, the driving control torque and the elastic control torque when the elastic control is in a return stroke stage is as follows: tau isc＝τ*-τp。
As shown in fig. 5, which is an exemplary graph of the relationship between the expected torque, the drive control torque, and the elastic control torque when the elastic control is in the return phase, it can be seen from fig. 5 that the value range of the expected torque is τ*∈[τ2,τ1]The maximum amplitude of the desired moment is | τ2L, correcting the moment of the elastic control, wherein the value range of the moment of the driving control is tauc∈[τ4,τ3]The maximum amplitude of the moment of the driving control is max (| tau)3|，|τ4| and the maximum magnitude | τ of the desired moment2I is larger than the maximum amplitude max of the moment of the driving control (I tau)3|，|τ4The I), so this application revises the moment of drive controlling part output through connecting the elasticity controlling part in parallel at drive controlling part department, can reduce the output of drive controlling part moment, improves the driving force of drive controlling part.
The step is the same as step 101, and reference may be made to the related description of step 101, which is not described herein again.
And step 403, acquiring a target power moment required by the movement of the target joint when the elastic control is in the return stroke stage based on the target movement track.
The step is the same as step 102, and reference may be made to the related description of step 102, which is not repeated herein.
And step 404, controlling the parallel elastic driver to output a target power moment.
The step is the same as step 103, and reference may be made to the related description of step 103, which is not repeated herein.
According to the embodiment of the application, before the elastic controls are connected in parallel at the driving controls, the elastic coefficient and the initial moment of the elastic controls are determined based on the established target function and constraint conditions, so that the elastic controls needing to be connected in parallel at the driving controls can be selected and the installation positions of the elastic controls can be determined, the correction of the moment output by the driving controls is realized based on the selected elastic controls, the output of the moment of the driving controls is reduced, and the driving capability of the driving controls is improved.
Referring to fig. 6, which is a schematic structural diagram of a joint control apparatus of a robot according to a third embodiment of the present application, a driving control is disposed at a target joint of the robot, an elastic control is connected in parallel at the driving control, and the driving control and the elastic control form a parallel elastic driver.
The joint control device includes:
a track obtaining module 61, configured to obtain a target motion track of a target joint;
a target obtaining module 62, configured to obtain, based on the target motion trajectory, a target moment required by the motion of the target joint when the elastic control is in the return stage;
and the driver control module 63 is used for controlling the parallel elastic driver to output the target torque.
Optionally, the target obtaining module 62 is specifically configured to:
acquiring a target joint angle required by the movement of a target joint when the elastic control is in a return stroke stage based on the target movement track;
and acquiring target torque according to the target joint angle.
Optionally, the driver control module 63 is specifically configured to:
acquiring a first moment required to be output by the elastic control according to the target joint angle;
acquiring a second moment required to be output by the driving control according to the target moment and the first moment;
and controlling the elastic control to output a first torque and controlling the driving control to output a second torque, wherein the sum of the first torque and the second torque is a target torque.
Optionally, the joint control device further comprises:
and the parameter determining module 64 is used for determining an elastic coefficient and an initial moment of the elastic control, wherein the elastic coefficient is used for selecting the elastic control, and the initial moment is used for reflecting the installation position of the elastic control at the driving control.
Optionally, the parameter determination module 64 includes:
a first obtaining unit 641, configured to obtain a test motion trajectory of a target joint;
the second obtaining unit 642 is configured to obtain, based on the test motion trajectory, an initial joint angle, a termination joint angle, initial time corresponding to the initial joint angle, and termination time corresponding to the termination joint angle of the target joint when the elastic control is in the return stage;
a third obtaining unit 643, configured to obtain, according to a test joint angle of a target joint when the elastic control is in a return stage, an elastic control moment and an expected moment of the target joint, where the initial joint angle and the final joint angle are both test joint angles, and the elastic control moment refers to a moment output by the elastic control;
a fourth obtaining unit 644, configured to obtain the driving control torque according to the desired torque and the elastic control torque;
and a fifth obtaining unit 645, configured to obtain the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time, and the driving control moment.
Optionally, the fifth obtaining unit 645 is specifically configured to:
obtaining the amplitude sum of the moment of the drive control output by the drive control in a target time period according to the initial time, the termination time and the moment of the drive control, wherein the target time period is a time period from the initial time to the termination time;
and acquiring the elastic coefficient and the initial moment of the elastic control when the sum of the amplitudes of the driving control moments is minimum.
Optionally, the parameter determining module 64 further includes:
a speed acquisition unit 646 for acquiring a movement speed of the target joint;
correspondingly, the fifth obtaining unit 645 is specifically configured to:
acquiring the total power output by the driving control in a target time period according to the initial joint angle, the termination joint angle, the initial time, the termination time and the movement speed;
and acquiring the elastic coefficient and the initial moment of the elastic control when the sum of the powers is minimum.
Optionally, the return phase refers to a phase in which the elastic control provides power for the target joint.
The joint control device provided in the embodiment of the present application can be applied to the first method embodiment and the second method embodiment, and for details, reference is made to the description of the first method embodiment and the second method embodiment, and details are not repeated here.
Fig. 7 is a schematic structural diagram of a robot according to a fourth embodiment of the present application. As shown in fig. 7, the robot 7 of this embodiment includes: one or more processors 70 (only one of which is shown), a memory 71, a computer program 72 stored in said memory 71 and executable on said processor 70, and a parallel elastic driver 73. The processor 70, when executing the computer program 72, implements the steps in the various joint control method embodiments described above.
The robot 7 may be a robot capable of walking, such as a humanoid robot, a biped robot, or a quadruped robot. The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of a robot 7 and does not constitute a limitation of robot 7 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. The memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot 7. The memory 71 is used for storing the computer program and other programs and data required by the robot. The memory 71 may also be used to temporarily store data that has been output or is to be output. It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The present application may also implement all or part of the processes in the methods of the above embodiments, and may also be implemented by a computer program product, when the computer program product runs on a robot, the robot is enabled to implement the steps in the above method embodiments when executed.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. A joint control method of a robot is characterized in that an elastic control is connected in parallel with the driving control, namely, one end of the elastic control is connected with the input end of the driving control, the other end of the elastic control is connected with the output end of the driving control, the driving control and the elastic control form a parallel elastic driver, and the joint control method comprises the following steps:
acquiring a target motion track of the target joint;
acquiring a target moment required by the movement of the target joint when the elastic control is in a return stage based on the target movement track, wherein the return stage is a stage in which the elastic control supplies power to the target joint;
and controlling the parallel elastic driver to output the target torque.
2. The joint control method according to claim 1, wherein the obtaining, based on the target motion trajectory, a target moment required for the motion of the target joint when the elastic control is in a return phase comprises:
acquiring a target joint angle required by the movement of the target joint when the elastic control is in a return stage based on the target movement track;
and acquiring the target moment according to the target joint angle.
3. The joint control method according to claim 2, wherein the controlling the parallel elastic driver to output the target torque includes:
acquiring a first moment to be output by the elastic control according to the target joint angle;
acquiring a second moment required to be output by the driving control according to the target moment and the first moment;
and controlling the elastic control to output the first torque and controlling the driving control to output the second torque, wherein the sum of the first torque and the second torque is the target torque.
4. The joint control method of claim 1, further comprising, prior to paralleling elastic controls at the drive control:
and determining an elastic coefficient and an initial moment of the elastic control, wherein the elastic coefficient is used for selecting the elastic control, and the initial moment is used for reflecting the installation position of the elastic control at the driving control.
5. The joint control method of claim 4, wherein the determining the spring coefficient and the initial moment of the spring control comprises:
obtaining a test motion track of the target joint;
based on the test motion trail, acquiring an initial joint angle, a termination joint angle, initial time corresponding to the initial joint angle and termination time corresponding to the termination joint angle of the target joint when the elastic control is in a return stage;
acquiring the moment of the elastic control and the expected moment of the target joint according to the test joint angle of the target joint when the elastic control is in a return stage, wherein the initial joint angle and the termination joint angle are both the test joint angles, and the moment of the elastic control refers to the moment output by the elastic control;
acquiring a driving control moment according to the expected moment and the elastic control moment;
and acquiring the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time and the moment of the driving control.
6. The joint control method of claim 5, wherein the obtaining the elastic coefficient and the initial moment of the elastic control according to the initial time, the end time, and the drive control moment comprises:
obtaining the amplitude sum of the moment of the driving control output by the driving control in a target time period according to the initial time, the termination time and the moment of the driving control, wherein the target time period is a time period from the initial time to the termination time;
and acquiring the elastic coefficient and the initial moment of the elastic control when the sum of the amplitudes of the driving control moments is minimum.
7. The joint control method according to claim 5, wherein before obtaining the elastic coefficient and the initial moment of the elastic control based on the initial time, the end time, and the drive control moment, further comprising:
acquiring the motion speed of the target joint;
correspondingly, the obtaining the elastic coefficient and the initial moment of the elastic control according to the initial time, the termination time and the moment of the driving control comprises:
acquiring the total power output by the driving control in a target time period according to the initial joint angle, the termination joint angle, the initial time, the termination time and the movement speed;
and acquiring the elastic coefficient and the initial moment of the elastic control when the sum of the powers is minimum.
8. A joint control device of a robot, a drive control is arranged at a target joint of the robot, and is characterized in that an elastic control is connected in parallel at the drive control, the elastic control is connected with the drive control in parallel, namely, one end of the elastic control is connected with the input end of the drive control, the other end of the elastic control is connected with the output end of the drive control, the drive control and the elastic control form a parallel elastic driver, and the joint control device comprises:
the track acquisition module is used for acquiring a target motion track of the target joint;
the target acquisition module is used for acquiring a target moment required by the movement of the target joint when the elastic control is in a return stage based on the target movement track, wherein the return stage is a stage in which the elastic control provides power for the target joint;
and the driver control module is used for controlling the parallel elastic driver to output the target torque.
9. A robot comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said robot further comprises a parallel elastic drive, said processor implementing the steps of the joint control method according to any of claims 1 to 7 when executing said computer program.
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| CN115157215A (en) * | 2022-07-11 | 2022-10-11 | 贵州航天控制技术有限公司 | Motor-driven force-power control device and method and exoskeleton system |
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| AU2010208020A1 (en) * | 2009-01-30 | 2011-09-15 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
| JP6153372B2 (en) * | 2013-04-19 | 2017-06-28 | キヤノン株式会社 | Robot apparatus, robot control method, program, and recording medium |
| CN105346618B (en) * | 2015-11-20 | 2017-11-14 | 清华大学 | Band upper body biped robot's level walking method based on series elastic driver |
| CN109760048B (en) * | 2018-12-28 | 2021-04-23 | 深圳市越疆科技有限公司 | Robot servo control method and device and robot |
| CN110202580B (en) * | 2019-06-28 | 2020-08-21 | 北京理工大学 | Construction method of disturbance recovery humanoid robot space compliance control model |
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Effective date of registration: 20231213 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |