CN-119910640-B - Robot motion control method, system, electronic equipment and medium

Abstract

The invention discloses a robot motion control method, a system, electronic equipment and a medium, wherein the robot motion control method comprises the steps of obtaining initial joint speed at the moment of starting a robot, generating a periodic compensation speed signal, determining the starting joint speed according to the initial joint speed and the periodic compensation speed signal, generating starting friction force corresponding to the initial joint speed, and determining the motion state of the robot according to external force and the starting friction force applied to the robot. According to the invention, the periodic compensation speed signal with high frequency and low amplitude is increased at the moment of starting the robot, so that the starting friction force in the positive and negative directions is alternately output at high frequency, the influence of the starting moment friction force on the external force for dragging the robot is reduced, and the dragging effect of the robot is improved.

Inventors

• CHEN RAN
• ZHOU YUANYUAN

Assignees

• 武汉联影智融医疗科技有限公司

Dates

Publication Date

20260508

Application Date

20231031

Claims (9)

1. 1. A robot motion control method, characterized in that the robot motion control method comprises: Acquiring an initial joint speed at the moment of starting the robot; generating a periodic compensated velocity signal; inputting the initial joint speed into a friction model to obtain a starting friction; Determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal to compensate the starting friction force; and determining the motion state of the robot according to the external force applied to the robot and the starting friction force.
2. 2. The robot motion control method of claim 1, wherein the step of determining a starting joint velocity from the initial joint velocity and the periodic compensation velocity signal comprises: the sum of the initial joint velocity and the periodic compensated velocity signal is determined as the start joint velocity.
3. 3. The robot motion control method of claim 1, wherein the step of determining the motion state of the robot according to the external force applied to the robot and the starting frictional force comprises: if the direction of the external force applied to the robot is the same as the direction of the starting friction force, determining that the robot moves according to the direction of the external force; And if the direction of the external force applied to the robot is different from the direction of the starting friction force, determining that the robot does not move.
4. 4. The robot motion control method of claim 1, wherein the friction model comprises a coulomb friction model and a viscous friction model.
5. 5. The robot motion control method of claim 1, wherein the periodic compensation speed signal has a frequency greater than 50 hertz.
6. 6. The robot motion control method of claim 1, wherein the step of obtaining an initial joint velocity at the moment of start of the robot comprises: obtaining a minimum parameter set through a dynamic modeling analysis method and a parameter identification technology; And determining the initial joint speed at the moment of starting the robot according to the minimum parameter set.
7. 7. A robotic motion control system, the robotic motion control system comprising: the acquisition module is used for acquiring the initial joint speed at the moment of starting the robot; The generating module is used for generating a period compensation speed signal; the acquisition module is also used for inputting the initial joint speed into a friction model so as to acquire starting friction; The determining module is used for determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal so as to compensate the starting friction force; and the determining module is also used for determining the motion state of the robot according to the external force applied to the robot and the starting friction force.
8. 8. An electronic device comprising a memory, a processor and a computer program stored on the memory for execution on the processor, characterized in that the processor implements the robot motion control method of any of claims 1-6 when executing the computer program.
9. 9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the robot motion control method of any one of claims 1-6.

Description

Robot motion control method, system, electronic equipment and medium Technical Field The present invention relates to the field of robots, and in particular, to a method, a system, an electronic device, and a medium for controlling motion of a robot. Background The current widely applied robot motion control method needs to establish and identify a dynamic model of a robot system, and then calculates an output signal (motor current) for dragging the robot control according to the dynamic model, and the control method is relatively complex, but does not need to be externally connected with any sensor. Because the friction force in the dynamic model of the robot has close relation with the speed, particularly in the starting process, how to accurately judge the movement direction of the joint at the starting moment, thereby outputting correct friction force compensation force and directly relating to the dragging control effect. However, in actual situations, the direction of the motor at the moment of starting is not judged particularly, and the moment of starting is considered to be free of friction and not compensated for friction, but the corresponding current compensation friction is output according to the speed direction after the joint is waited for to actually move. In the dragging control of the robot, a large amount of friction force needs to be overcome, so that the problem of overlarge starting force is caused. Disclosure of Invention The invention aims to overcome the defect of overlarge starting force of a robot in the prior art and provides a robot motion control method, a system, electronic equipment and a medium. The invention solves the technical problems by the following technical scheme: The invention provides a robot motion control method, which comprises the following steps: Acquiring an initial joint speed at the moment of starting the robot; generating a periodic compensated velocity signal; Determining a starting joint velocity from the initial joint velocity and the periodic compensated velocity signal Generating an initiating friction force corresponding to the initial joint velocity; and determining the motion state of the robot according to the external force applied to the robot and the starting friction force. Preferably, the step of determining the starting joint velocity from the initial joint velocity and the periodic compensated velocity signal comprises: the sum of the initial joint velocity and the periodic compensated velocity signal is determined as the start joint velocity. Preferably, the step of determining the motion state of the robot according to the external force applied to the robot and the starting frictional force includes: if the direction of the external force applied to the robot is the same as the direction of the starting friction force, determining that the robot moves according to the direction of the external force; And if the direction of the external force applied to the robot is different from the direction of the starting friction force, determining that the robot does not move. Preferably, the step of generating the starting frictional force corresponding to the initial joint velocity includes: the initial joint velocity is input into a friction model to obtain a starting friction. Preferably, the friction model includes a coulomb friction model and a viscous friction model. Preferably, the frequency of the periodic compensated velocity signal is greater than 50 hertz. Preferably, the step of obtaining the initial joint velocity at the moment of starting the robot comprises: obtaining a minimum parameter set through a dynamic modeling analysis method and a parameter identification technology; And determining the initial joint speed at the moment of starting the robot according to the minimum parameter set. The present invention also provides a robot motion control system including: the acquisition module is used for acquiring the initial joint speed at the moment of starting the robot; The generation module is used for generating the period compensation speed signal; The determining module is used for determining a starting joint speed according to the initial joint speed and the periodic compensation speed signal; The generating module is also used for generating a starting friction force corresponding to the initial joint speed; and the determining module is also used for determining the motion state of the robot according to the external force applied to the robot and the starting friction force. The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and used for running on the processor, wherein the processor realizes the robot motion control method when executing the computer program. The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the robot motion control metho