CN112230542A

CN112230542A - Method and device for compensating friction force or friction torque and rehabilitation robot

Info

Publication number: CN112230542A
Application number: CN202011092800.2A
Authority: CN
Inventors: 陈鑫; 朱志军; 鞠超; 王晗; 姚远; 顾捷
Original assignee: Shanghai Fourier Intelligent Technology Co ltd
Current assignee: Shanghai Fourier Intelligent Technology Co ltd
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-01-15
Anticipated expiration: 2040-10-13
Also published as: CN112230542B

Abstract

The application relates to the technical field of robots and discloses a method for compensating friction force or friction torque. The method for compensating for friction or friction torque comprises: the method comprises the steps of obtaining the current output force/current output torque of a controller in a closed-loop control system, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque, compensating the current output force/current output torque according to the current friction force/current friction torque to obtain a control value/torque of force, and controlling an executing mechanism according to the control value/torque of force. The friction force or the friction torque can be compensated more quickly by using the method for compensating the friction force or the friction torque. The application also discloses a device and a rehabilitation robot for compensating the friction force or the friction torque.

Description

Method and device for compensating friction force or friction torque and rehabilitation robot

Technical Field

The present application relates to the field of robotics, for example to a method, a device and a rehabilitation robot for compensating friction or friction torque.

Background

Currently, joint injury, nervous system injury, skeletal muscle injury, etc. of a patient cause joint skill disorder, and the patient needs rehabilitation training to recover or improve joint function. The rehabilitation training comprises that a patient actively completes a series of training actions, the patient completes the series of training actions with the assistance of a rehabilitation therapist, or the patient completes the series of training actions with the assistance of an auxiliary instrument.

Chinese utility model patent with the publication number of grant CN206063380U provides an upper limbs rehabilitation training machine, and this rehabilitation training machine is including the hand rest and the fly leaf that are used for supporting the upper limbs, and the hand rest sets up on the fly leaf, and the hand rest can slide on the fly leaf. The rehabilitation training machine can assist patients to carry out rehabilitation training.

Chinese utility model patent with the publication number of CN210472554U provides a single joint rehabilitation robot, which comprises: a torque detection part for detecting a torque applied to the moving part by a user; the motion control unit is connected with the torque detection part and used for determining the output torque of the motor according to the acquired torque detected by the torque detection part and sending the output torque to the motor driver; the motor driver is connected with the motion control unit and the motor and is used for controlling the output torque of the motor to accord with the output torque determined by the motion control unit; a motor; and the transmission part is connected with the motor and the motion accessory and is used for amplifying the output torque of the motor by a preset multiple and applying the amplified output torque to the motion accessory so that the torque applied to the motion accessory by the transmission part is superposed with the torque applied to the motion accessory by a user and then the motion accessory moves according to a planned motion track. The rehabilitation robot can assist patients to carry out rehabilitation training.

In the above-mentioned technology, when a moving part in the rehabilitation training robot moves, a friction force/friction torque exists between the moving part and a fixed part in the rehabilitation training robot, and the friction force/friction torque may cause a user to perform rehabilitation training without ease, or may cause a position of the moving part to be unable to be accurately tracked, so that the position of the moving part cannot be accurately controlled.

In order to compensate for the friction force/friction torque, chinese patent application publication No. CN111428317A provides a joint friction torque compensation method based on 5G and a recurrent neural network, which includes step S1: collecting relevant information in real time in the movement process of the joint robot by using an information collector; step S2: after the information collector collects the information, predicting the friction torque of the next period through a friction torque estimator; step S3: the controller feeds back the calculated current friction torque compensation amount to the driver, and the driver sends an action instruction to the joint robot and enables the joint robot to obtain torque compensation in the next control period, so that the joint tracking accuracy of the joint robot can be improved.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

the friction torque estimator is independent of the robot's control system and the speed of compensating for the friction torque is slow.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a method and a device for compensating friction force or friction torque and a rehabilitation robot, so as to solve the technical problem that the speed of compensating the friction torque is slow.

In some embodiments, a method for compensating for friction or friction torque includes: the method comprises the steps of obtaining the current output force/current output torque of a controller in a closed-loop control system, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque, compensating the current output force/current output torque according to the current friction force/current friction torque to obtain a force control value/torque control value, and controlling an executing mechanism according to the force control value/torque control value.

Optionally, the compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque includes: determining an iteration value according to the magnitude relation between the current output force/current output torque and a first set value, and calculating the sum of the previous friction force/friction torque and the iteration value to obtain the current friction force/current friction torque.

Optionally, determining an iteration value according to a magnitude relationship between the current output force/current output torque and a first set value includes: determining the product of the current output force/current output torque and a first coefficient as the iteration value under the condition that the current output force/current output torque is larger than the first set value; and determining a second coefficient as the iteration value when the current output force/current output torque is smaller than the first set value.

Optionally, the compensating the current output force/current output torque according to the current friction force/current friction torque to obtain a force control value/torque control value includes: and calculating the sum of the current friction force/current friction torque, the current output force/current output torque and the specific acting force/specific acting torque to obtain a force control value/torque control value.

Optionally, the method for compensating for friction or friction torque further comprises: obtaining a plurality of historical output forces/historical output torques output by the controller; calculating an average value of the plurality of historical output forces/historical output torques, or calculating an average value of the plurality of historical output forces/historical output torques and the current output force/current output torque;

and under the condition that the average value is greater than or equal to a second set value, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

Optionally, the method for compensating for friction or friction torque further comprises:

obtaining a setting parameter of the closed-loop control system under the condition that the average value is smaller than a second setting value;

under the condition that the set parameter represents a set movement speed, determining a set movement direction of a robot/a moving part of the robot, and determining the positive direction of the set movement direction as the compensation direction of the current friction force/the current friction torque; or, determining the current friction force/current friction torque corresponding to the set movement speed;

and under the condition that the set parameters represent set positions, determining the corresponding current friction force/friction torque according to the set positions.

under the condition that the average value is smaller than a second set value, acquiring actual parameters of the closed-loop control system;

under the condition that the actual parameters represent the current movement speed, determining the current movement direction of a moving part of the robot, and determining the positive direction of the current movement direction as the compensation direction of the current friction force/friction torque; or, determining the current friction force/current friction torque corresponding to the current movement speed;

and under the condition that the actual parameter represents the current position, determining the current friction force/current friction torque according to the current position.

Optionally, the specific force/specific moment of action is zero, or the specific moment of action is a gravitational moment.

Optionally, the current output force/current output torque is obtained under the condition that the closed-loop control system controls the robot/robot moving part to do uniform motion at a set speed, or under the condition that the closed-loop control system controls the robot/robot moving part to do uniform rotation at a set rotating speed.

In some embodiments, the means for compensating for friction or friction torque comprises:

a first obtaining module configured to obtain a current output force/current output torque of a controller in a closed-loop control system;

the estimation module is configured to compensate the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque;

the compensation module is configured to compensate the current output force/current output torque according to the current friction force/current friction torque to obtain a force control value/torque control value;

an actuator module configured to control the actuator according to the control value of the force/torque.

In some embodiments, an apparatus for compensating for friction or friction torque includes a processor and a memory storing program instructions, the processor being configured to, when executing the program instructions, perform the method for compensating for friction or friction torque provided by the foregoing embodiments.

In some embodiments, the rehabilitation robot comprises the device for compensating friction force or friction torque provided by the previous embodiments.

The embodiment of the present disclosure provides a method for compensating friction force/friction torque, which can achieve the following technical effects:

and compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque, and performing feedforward compensation on the current friction force/current friction torque to the current output force/current output torque, so that the compensation speed of the friction force/friction torque is increased.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, embodiments in which elements having the same reference number designation are identified as similar elements, and in which:

fig. 1 is a schematic structural diagram of a rehabilitation robot provided in an embodiment of the present disclosure;

FIG. 2 is a system block diagram of a closed-loop control system provided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a method for obtaining a current friction/current friction torque provided by an embodiment of the present disclosure;

FIG. 5 is a system block diagram of a closed-loop control system provided by an embodiment of the present disclosure;

FIG. 6 is a system block diagram of a closed-loop control system provided by an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 9 is a system block diagram of a closed-loop control system provided by an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 12 is a system block diagram of a closed loop control system provided by an embodiment of the present disclosure;

FIG. 13 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 14 is a schematic diagram of a method for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 15 is a schematic diagram of an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 16 is a schematic diagram of an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 17 is a schematic diagram of an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 18 is a schematic diagram of an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure;

FIG. 19 is a schematic diagram of an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure;

fig. 20 is a schematic diagram of an apparatus for compensating friction or friction torque provided by an embodiment of the present disclosure.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

The term "plurality" means two or more unless otherwise specified.

In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.

In the embodiment of the present disclosure, a plurality of characters "/" appear at the same time to indicate a one-to-one correspondence relationship between preceding and following objects, without being particularly described. For example, "A/B" and "C/D" occur simultaneously, meaning that A corresponds to C and B corresponds to D, i.e.: when A is taken from "A/B", C is taken from "C/D"; when B is taken from "A/B", D is taken from "C/D".

Fig. 1 is a schematic structural diagram of a rehabilitation robot according to an embodiment of the present disclosure, and the method for compensating the friction force or the friction torque may be applied to the rehabilitation robot shown in fig. 1, where the rehabilitation robot is a wrist joint rehabilitation robot, and a patient may shake a handle 11 on the rehabilitation robot to perform rehabilitation training on a wrist joint.

Of course, the method for compensating the friction force or the friction torque may also be applied to a rehabilitation training machine, a rehabilitation robot, and a joint robot as shown in the background art of the present application.

Fig. 2 is a system block diagram of a closed-loop control system to which a method for compensating for friction or friction torque is applied according to an embodiment of the present disclosure. As shown in connection with fig. 2, the closed-loop control system includes a controller 21, an estimator 22, a compensator 23, and an actuator 24.

The controller 21 refers to a controller formed by software, hardware or a combination of the two having a function of eliminating deviation, and may adjust an actual parameter to a set parameter, for example, adjust an actual rotation speed of a robot to a set rotation speed, or adjust an actual linear motion speed of a robot to a set linear motion speed, or adjust an actual position of a robot to a set position. The controller 21 may be a proportional-integral-derivative (PID) controller, a Linear Quadratic Regulator (LQR), or the like.

The actuator 21 may include a motion control board, a driving motor and a transmission component, or the actuator 21 may include a frequency converter, a driving motor and a transmission component, or the actuator 21 may include a transformer, a driving motor and a transmission component.

Fig. 3 is a schematic diagram of a method for compensating friction or friction torque according to an embodiment of the present disclosure. As shown in fig. 2 and 3, the method for compensating for the friction force or the friction torque includes:

s301, obtaining the current output force/current output torque of the controller in the closed-loop control system.

Under the condition that the robot/robot moving part does linear motion, the current output force of a controller in a closed-loop control system is obtained; and under the condition that the robot/robot moving part does circular motion, obtaining the current output torque of the controller in the closed-loop control system.

In the disclosed embodiments, the robot/robot moving part makes linear motions, including linear motion moving in one direction, reciprocating linear motion, and linear motion with the direction of motion changed one or more times.

In the embodiment of the present disclosure, the robot/robot moving part performs a circular motion, including that the motion trajectory of the robot/robot moving part is a complete circle, and the motion trajectory of the robot/robot moving part is a part of the circle.

After each current output force/output torque is obtained, the current output force/output torque is stored. The output force/output torque of the controller obtained before this time is collectively referred to as historical output force/historical output torque.

Optionally, the current output force/current output torque is obtained under the condition that the closed-loop control system controls the robot/robot moving part to do uniform motion at a set speed, or under the condition that the closed-loop control system controls the robot/robot moving part to do uniform rotation at a set rotating speed. In the embodiment of the disclosure, the uniform motion of the robot/robot motion component means that the robot/robot motion component performs uniform linear motion. In the case of a uniform rotation or a uniform motion of the robot/robot moving part, the acceleration of the robot/robot moving part in the direction of motion can be ignored, in which case the method for compensating the friction/friction torque is performed, facilitating a more accurate compensation of the friction/friction torque.

In some application scenarios, the robot/robot moving part performs variable-speed motion, where the variable-speed motion includes variable-speed linear motion and variable-speed circular motion, and the method for compensating for friction force/friction torque is performed by software, hardware, or a combination of the two, and a speed change value of the robot/robot moving part is much smaller than a moving speed of the robot/robot moving part in a time period in which the method is performed multiple times, for example, the moving speed is a set multiple of the speed change value or more, where the set multiple may be 5 times or more, and may specifically be 5 times, 10 times, 20 times or more. Wherein, the moving speed of the robot/robot moving part comprises a linear moving speed and a circular rotating speed. In this case, the robot/robot moving part may be regarded as a uniform motion, and then S301 may be executed to obtain the current output force/current output torque of the controller in the closed-loop control system.

Optionally, the current output force/current output torque is obtained in a case where the closed-loop control system controls the robot/robot moving part to make a linear motion according to the set acceleration, or in a case where the closed-loop control system controls the robot/robot moving part to rotate according to the set acceleration. In this case, the acceleration of the robot/moving part of the robot is known and the friction/friction torque is conveniently estimated and thus compensated for.

S302, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

The estimator shown in fig. 2 may compensate the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

Under the condition that the robot/robot moving part does linear motion, compensating the previous friction force according to the current output force to obtain the current compensation force; under the condition that the robot/robot moving part does circular motion, the previous friction torque is compensated according to the current output torque, and the current compensation torque is obtained.

The current friction force/current friction torque is estimated friction force/friction torque and is used for reflecting the actual friction force/friction torque, and the more the current friction force/current friction torque approaches the actual friction force/friction torque, the more accurate the current friction force/current friction torque is, the more accurate the actual friction force/friction torque can be compensated.

Optionally, the method for compensating for friction or friction torque further comprises: obtaining a plurality of historical output forces/historical output torques output by the controller, calculating the average value of the plurality of historical output forces/historical output torques, or calculating the average value of the plurality of historical output forces/historical output torques and the current output force/current output torque, and considering that the previous friction force/friction torque is not accurate enough when the average value is larger than or equal to a second set value, and compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque; and under the condition that the average value is smaller than the second set value, the previous friction force/friction torque is considered to be accurate enough, and the current friction force/current friction torque is determined according to the previous friction force/friction torque. By means of the method, a dead zone for adjustment is provided, which reduces oscillations of the current friction force/current friction torque.

Under the condition that the robot/robot moving part does linear motion, obtaining a plurality of historical output forces output by the controller, calculating the average value of the plurality of historical output forces, and under the condition that the average value is larger than or equal to a second set value, compensating the previous friction force according to the current output force to obtain the current compensation force; in case the average value is smaller than the second set value, the current compensation force is determined from the previous friction force.

Under the condition that the robot/robot moving part does circular motion, obtaining a plurality of historical output torques output by the controller, calculating the average value of the plurality of historical output torques, and under the condition that the average value is larger than or equal to a second set value, compensating the previous friction torque according to the current output torque to obtain the current compensation torque; and determining the current compensation torque according to the previous friction torque under the condition that the average value is smaller than a second set value.

S303, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

The compensator shown in fig. 2 may compensate the current output force/current output torque according to the current friction force/current friction torque, obtaining a control value of the force/torque.

Under the condition that the robot/robot moving part does linear motion, compensating the current output force according to the current compensation cable car to obtain a force control value; and under the condition that the robot/robot moving part does circular motion, compensating the current output torque according to the current compensation torque to obtain a torque control value.

And S304, controlling the actuating mechanism according to the force control value/torque control value.

Wherein, under the condition that the moving part of the robot/robot does linear motion, the executing mechanism is controlled according to the control value of the force; and under the condition that the moving part of the robot does circular motion, controlling the actuating mechanism according to the control value of the moment.

In the embodiments of the present disclosure, the term "moving part of the robot" refers to "robot" or "moving part of the robot", for example, the case where the moving part of the robot moves linearly includes: the robot moves linearly, or the moving part of the robot moves linearly.

The method for compensating the friction force or the friction torque is a dynamic compensation process, after an actuating mechanism is controlled according to a force control value or a torque control value, actual parameters output by the actuating mechanism are changed, the change is negatively fed back to a controller, then the controller outputs the current output force or the current output torque again, then the force control value or the torque control value is obtained, and then the actuating mechanism is controlled according to the force control value or the torque control value, so that the dynamic compensation is realized.

In some application scenarios, the method for compensating the friction force or the friction torque is performed before the robot works, so as to obtain a more accurate current compensation force or current compensation torque, thereby accurately compensating the friction force or the friction torque, and facilitating more accurate control of the motion process of the robot.

In some application scenarios, the method for compensating the friction force or the friction torque is executed in real time during the working process of the robot, so that the friction force or the friction torque can be adjusted in real time, and the more accurate current compensation force or current compensation torque can be obtained in real time, so that the friction force or the friction torque can be compensated accurately in real time, and the motion process of the robot can be controlled more accurately.

Fig. 4 is a schematic diagram of a method for obtaining a current friction force/current friction torque provided by an embodiment of the present disclosure. Referring to fig. 4, the step of compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque includes:

s401, determining an iteration value according to the magnitude relation between the current output force/current output torque and a first set value.

Optionally, determining an iteration value according to a magnitude relationship between the current output force/current output torque and the first set value includes: under the condition that the current output force/the current output torque is larger than a first set value, determining the product of the current output force/the current output torque and a first coefficient as an iteration value; and under the condition that the current output force/current output torque is smaller than a first set value, determining a second coefficient as an iteration value, wherein the first coefficient and the second coefficient are set numerical values. From this, an accurate iteration value can be determined to compensate for the previous friction/friction torque and obtain an accurate current friction/current friction torque.

The difference between the first set point and zero is [0, 1], for example, the difference between the first set point and zero is any one of 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9 and 1.

Under the condition that a moving part of the robot/the robot does linear motion, determining an iteration value according to the magnitude relation between the current output force and a first set value; and under the condition that the moving part of the robot/the robot does circular motion, determining an iteration value according to the magnitude relation between the current output torque and the first set value.

And S402, calculating the sum of the previous friction force/friction torque and the iteration value to obtain the current friction force/current friction torque.

Through the method, more accurate current friction force or current friction torque can be obtained, so that the friction force/friction torque can be compensated more accurately.

Fig. 5 is a system block diagram of a closed-loop control system to which a method for compensating for friction or friction torque is applied according to an embodiment of the present disclosure. Referring to fig. 5, the step of compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value includes: and calculating the sum of the current friction force/current friction torque, the current output force/current output torque and the specific acting force/specific acting torque to obtain a force control value/torque control value.

Under the condition that a moving part of the robot/the robot does linear motion, calculating the sum of the current friction force, the current output force and the specific acting force to obtain a force control value; under the condition that the moving part of the robot/the robot does circular motion, the sum of the current friction torque, the current output torque and the specific action torque is calculated, and the control value of the torque is obtained.

When the projection of the specific acting force/specific acting moment on the moving direction of the moving part of the robot/robot is opposite to the moving direction, the numerical value of the specific acting force/specific acting moment is positive; when the projection of the specific force/specific force onto the moving direction of the moving part of the robot/robot is the same as the moving direction, the value of the specific force/specific moment of action is negative.

In some application scenarios, the specific force is zero in case the moving part of the robot/robot is moving linearly in the horizontal plane; under the condition that the moving part of the robot does circular motion on the horizontal plane, the specific acting moment is zero; when the moving part of the robot moves linearly on a vertical plane (vertical to a horizontal plane), the specific acting force is the projection of gravity on the moving direction of the moving part of the robot; under the condition that the robot/robot moving part circularly moves on a vertical plane, the specific action moment is a gravity moment; under the condition that a moving part of the robot/the robot makes linear motion on an inclined plane (the inclined plane and the horizontal plane have an included angle which is not equal to 90 degrees), the specific acting force is the projection of gravity on the moving direction of the moving part of the robot/the robot; in the case of a circular motion of the moving part of the robot/robot on the inclined plane, the specific action moment is the projection of the gravitational moment on the moving direction of the moving part of the robot/robot.

Fig. 6 is a system block diagram of a closed-loop control system to which a method for compensating for friction or friction torque is applied according to an embodiment of the present disclosure.

As shown in fig. 6, the method for compensating for the friction force or the friction torque further includes: and acquiring set parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the set parameters.

Wherein, confirm with the present frictional force/present friction torque that the settlement parameter corresponds, include:

under the condition that the set parameters represent the set movement speed, determining the set movement direction of the robot/the moving part of the robot, and determining the positive direction of the set movement direction as the compensation direction of the current friction force/the current friction torque; wherein, the setting of the movement speed comprises setting of a linear movement speed or setting of a circular movement speed.

In the case where the setting parameter indicates the set moving speed, the current frictional force/current frictional torque corresponding to the set moving speed is determined.

In the case where the setting parameter indicates the set position, the current friction force/friction torque corresponding to the movement position is determined.

The set parameters can reflect the state to be reached by the moving part of the robot/robot, the actual parameters can reflect the current state of the moving part of the robot/robot, and in the process of continuously controlling the moving part of the robot/robot, the actual parameters are usually different from the set parameters, and the actual parameters continuously track or approach the set parameters. That is, for the actual parameters, the set parameters are parameters to be reached by the moving part of the robot, the actual parameters have a tendency of tracking or approaching the set parameters, the corresponding current friction force or current friction torque is determined according to the set parameters, and the determined current friction force or current friction torque is fed forward to the executing mechanism, so that the actual friction force/actual friction torque received by the moving part of the robot can be compensated in advance when the moving part of the robot is in the state of the set parameters, and the speed of compensating the friction force or friction torque is increased.

Fig. 7 is a schematic diagram of a method for compensating friction or friction torque according to an embodiment of the present disclosure. As shown in fig. 7, the method for compensating the frictional force or the frictional torque includes:

s701, setting a setting parameter.

S702, obtaining the current output force/current output torque of the controller in the closed-loop control system.

And S703, judging whether the average value of the output forces/the output torques of the controller is larger than a second set value, if so, executing S704, otherwise, executing S707.

Wherein the average of the plurality of output forces/output torques of the controller comprises: an average of a plurality of historical output forces/historical output torques of the controller, and an average of a plurality of historical output forces/historical output torques and a current output force/current output torque of the controller.

S702 and S703 may reverse the order in the case where the average of the plurality of output forces/output torques of the controller is the average of the plurality of historical output forces/historical output torques of the controller.

S704, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

S705, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

And S706, controlling the actuating mechanism according to the force control value/torque control value.

And S707, establishing a corresponding relation between the set parameters and the current friction force/current friction torque.

S708, judging whether all set parameters are traversed, if so, executing S709; otherwise, S701 is executed.

And S709, acquiring set parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the set parameters.

At the beginning of the step, the robot enters a normal working mode, the set parameters change in real time when the moving parts of the robot/the robot are controlled to move according to the preset track, and each time one set parameter is obtained, a current friction force/current friction torque corresponding to the set parameter is determined.

And S710, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

And S711, controlling the actuating mechanism according to the force control value/torque control value.

Fig. 8 is a schematic diagram of a method for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 8, the method for compensating the frictional force or the frictional torque includes:

s801, setting a setting parameter.

And S802, acquiring the current output force/current output torque of the controller in the closed-loop control system.

And S803, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S804, otherwise, executing S807.

S802 and S803 may reverse the order in the case where the average of the plurality of output forces/output torques of the controller is the average of the plurality of historical output forces/historical output torques of the controller.

S804, the previous friction force/friction torque is compensated according to the current output force/current output torque, and the current friction force/current friction torque is obtained.

And S805, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

And S806, controlling the actuating mechanism according to the force control value/torque control value.

S807, establishing a corresponding relation between the set parameters and the current friction force/current friction torque.

S808, judging whether all the set parameters are traversed or not, and if so, executing S809; otherwise, S801 is executed.

And S809, acquiring the set parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the set parameters.

And S810, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S811, and otherwise, executing S809.

S811, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

And S812, compensating the current output force/current output torque according to the current friction force/current friction torque to obtain a force control value/torque control value.

S813, the actuator is controlled according to the force control value/torque control value.

Fig. 9 is a system block diagram of a closed-loop control system to which a method for compensating for friction or friction torque is applied, according to an embodiment of the present disclosure.

As shown in fig. 9, the method for compensating for the friction force or the friction torque further includes: and acquiring actual parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the actual parameters.

Wherein determining the current friction/current friction torque corresponding to the actual parameter comprises:

under the condition that the actual parameters represent the current movement speed, determining the current movement direction of the robot/the moving part of the robot, and determining the positive direction of the current movement direction as the compensation direction of the current friction force/friction torque; wherein the current movement speed comprises a current linear movement speed or a current circular movement speed.

Under the condition that the actual parameters represent the current movement speed, determining the current friction force/current friction torque corresponding to the current movement speed;

in the case that the actual parameter represents the current position, a current friction force/current friction torque corresponding to the current position is determined.

The actual parameters can reflect the current state of the moving part of the robot, more accurate current friction force/current friction torque can be determined according to the actual parameters, the actual friction force/actual friction torque can be compensated according to the determined current friction force/current friction torque, the actual friction force/actual friction torque can be compensated more accurately, and the speed or the position of the moving part of the robot can be tracked more accurately when the speed or the position of the moving part of the robot is controlled.

Fig. 10 is a schematic diagram of a method for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 10, the method for compensating the frictional force or the frictional torque includes:

s1001, setting a setting parameter.

And S1002, acquiring the current output force/current output torque of the controller in the closed-loop control system.

And S1003, judging whether the average value of the output forces/the output torques of the controller is larger than a second set value, if so, executing S1004, and otherwise, executing S1007.

S1002 and S1003 may reverse the order in the case where the average of the plurality of output forces/output torques of the controller is the average of the plurality of historical output forces/historical output torques of the controller.

And S1004, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

S1005, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

And S1006, controlling the actuating mechanism according to the force control value/torque control value.

And S1007, obtaining actual parameters, and establishing a corresponding relation between the actual parameters and the current friction force/current friction torque.

S1008, judging whether all set parameters are traversed or not, and if so, executing S1009; otherwise, S1001 is performed.

S1009, obtaining actual parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the actual parameters.

At the beginning of the step, the robot enters a normal working mode, when the moving part of the robot/the robot is controlled to move according to a preset track, the actual parameters change in real time, and each time one actual parameter is obtained, a current friction force/current friction torque corresponding to the actual parameter is determined.

S1010, compensating the current output force/the current output torque according to the current friction force/the current friction torque, and obtaining a force control value/a torque control value.

And S1011, controlling the actuating mechanism according to the force control value/moment control value.

Fig. 11 is a schematic diagram of a method for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 11, the method for compensating the frictional force or the frictional torque includes:

s1101, setting a setting parameter.

And S1102, acquiring the current output force/current output torque of the controller in the closed-loop control system.

And S1103, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S1104, and otherwise, executing S1107.

In the case where the average value of the plurality of output forces/output torques of the controller is the average value of the plurality of historical output forces/historical output torques of the controller, S1102 and S1103 may reverse the order.

And S1104, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

S1105, compensating the current output force/current output torque according to the current friction force/current friction torque to obtain the force control value/torque control value.

S1106 controls the actuator according to the force control value/torque control value.

S1107, obtaining actual parameters, and establishing a corresponding relation between the actual parameters and the current friction force/the current friction torque.

S1108, judging whether all the set parameters are traversed or not, and if so, executing S1109; otherwise, S1101 is executed.

And S1109, acquiring actual parameters of the closed-loop control system, and determining the current friction force/current friction torque corresponding to the actual parameters.

And S1110, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S1111, otherwise, executing S1109.

And S1111, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

And S1112, compensating the current output force/the current output torque according to the current friction force/the current friction torque, and obtaining a force control value/a torque control value.

And S1113, controlling the actuating mechanism according to the force control value/torque control value.

Fig. 12 is a system block diagram of a closed-loop control system provided by an embodiment of the present disclosure. A method for compensating for friction or friction torque is applied to the closed-loop control system.

As shown in fig. 12, the method for compensating for the friction force or the friction torque further includes: and obtaining set parameters of the closed-loop control system, obtaining actual parameters of the closed-loop control system, and determining the current friction force/current friction torque according to the set parameters and the actual parameters.

Wherein, according to setting parameter and actual parameter confirm present frictional force/present friction torque, include: determining a first numerical value corresponding to the set parameter, determining a second numerical value corresponding to the actual parameter, and calculating a weighted sum of the first numerical value and the second numerical value to obtain the current friction force/current friction torque.

Under the condition that the set parameters represent the set movement speed and the actual parameters represent the current movement speed, determining a first numerical value corresponding to the set movement speed, determining a second numerical value corresponding to the current movement speed, calculating the weighted sum of the first numerical value and the second numerical value, and obtaining the current friction force/current friction torque; the set motion speed comprises a set linear motion speed or a set circular motion speed, and the current motion speed comprises a current linear motion speed or a current circular motion speed.

And under the condition that the set parameter represents the set position and the actual parameter represents the current position, determining a first numerical value corresponding to the set position, determining a second numerical value corresponding to the current position, calculating the weighted sum of the first numerical value and the second numerical value, and obtaining the current friction force/current friction torque.

The current friction force/current friction torque is determined by the set parameters and the actual parameters, timeliness and accuracy of the current friction force/current friction torque are considered, and after the determined current friction force/current friction torque is used for compensating the actual friction force/actual friction torque, speed and position of a moving part of the robot can be tracked better.

Fig. 13 is a schematic diagram of a method for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 13, the method for compensating the frictional force or the frictional torque includes:

s1301, setting a setting parameter.

And S1302, obtaining the current output force/current output torque of the controller in the closed-loop control system.

And S1303, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S1304, and otherwise, executing S1307.

S1302 and S1303 may reverse the order in the case where the average value of the plurality of output forces/output torques of the controller is the average value of the plurality of historical output forces/historical output torques of the controller.

And S1304, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

And S1305, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

And S1306, controlling the actuating mechanism according to the force control value/torque control value.

And S1307, establishing a corresponding relation between the set parameters and the current friction force/current friction torque.

S1308, obtaining actual parameters, and establishing a corresponding relation between the actual parameters and the current friction force/current friction torque.

S1309, judging whether all the set parameters are traversed, if so, executing S1310; otherwise, S1301 is executed.

S1310, obtaining set parameters of the closed-loop control system, obtaining actual parameters of the closed-loop control system, and determining the current friction force/current friction torque according to the set parameters and the actual parameters.

At the beginning of the step, the robot enters a normal working mode, when the moving parts of the robot/the robot are controlled to move according to the preset track, the set parameters change in real time, the actual parameters change in real time, and each time one set parameter and one actual parameter are obtained, a current friction force/current friction torque can be determined.

S1311, compensating the current output force/the current output torque according to the current friction force/the current friction torque, and obtaining a force control value/a torque control value.

S1312, the actuator is controlled according to the force control value and the torque control value.

Fig. 14 is a schematic diagram of a method for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 14, the method for compensating the frictional force or the frictional torque includes:

s1401, setting a setting parameter.

And S1402, obtaining the current output force/current output torque of the controller in the closed-loop control system.

And S1403, judging whether the average value of the output forces/output torques of the controller is larger than a second set value, if so, executing S1404, and if not, executing S1407.

S1402 and S1403 may reverse the order in the case where the average of the plurality of output forces/output torques of the controller is the average of the plurality of historical output forces/historical output torques of the controller.

And S1404, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

S1405, compensating the current output force/the current output torque according to the current friction force/the current friction torque, and obtaining a force control value/a torque control value.

S1406 controls the actuator according to the force control value/torque control value.

S1407, establishing a corresponding relation between the set parameters and the current friction force/the current friction torque.

And S1408, obtaining the actual parameters, and establishing the corresponding relation between the actual parameters and the current friction force/current friction torque.

S1409, judging whether all the set parameters are traversed, if so, executing S1410; otherwise, S1401 is executed.

And S1410, obtaining set parameters of the closed-loop control system, obtaining actual parameters of the closed-loop control system, and determining the current friction force/current friction torque according to the set parameters and the actual parameters.

S1411, determining whether an average value of the output forces/output torques of the controller is greater than a second set value, if so, performing S1412, otherwise, performing S1410.

And S1412, compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque.

S1413, compensating the current output force/the current output torque according to the current friction force/the current friction torque to obtain a force control value/a torque control value.

S1414, controlling the actuator according to the force control value/torque control value.

Fig. 15 is a schematic diagram of an apparatus for compensating friction or friction torque provided by an embodiment of the present disclosure. As shown in fig. 15, the apparatus for compensating friction force or friction torque includes a first obtaining module 151, an estimating module 152, a compensating module 153, and an executing module 154, wherein the first obtaining module 151 is configured to obtain a current output force/current output torque of a controller in a closed-loop control system, and the estimating module 152 is configured to compensate a previous friction force/friction torque according to the current output force/current output torque to obtain a current friction force/current friction torque; the compensation module 153 is configured to compensate the current output force/current output torque according to the current friction force/current friction torque, obtaining a control value of force/torque; an actuator module 154 configured to control the actuator according to the control value of the force/torque.

As shown in connection with fig. 16, the estimation module 152 includes a determination unit 1521 and a calculation unit 1522. Wherein, the determining unit 1521 is configured to determine an iteration value according to the magnitude relation between the current output force/current output torque and the first set value, and the calculating unit 1522 is configured to calculate the sum of the previous friction force/friction torque and the iteration value, so as to obtain the current friction force/current friction torque.

Optionally, the determining unit 1521 is specifically configured to determine, in a case where the current output force/the current output torque is greater than the first set value, that a product of the current output force/the current output torque and the first coefficient is an iterative value; and determining the second coefficient as an iteration value under the condition that the current output force/current output torque is smaller than the first set value.

Optionally, the compensation module 153 is specifically configured to calculate a sum of the current friction force/current friction torque, the current output force/current output torque and the specific force/specific effort torque, resulting in a control value of the force/torque.

Optionally, the specific force/specific moment of action is zero, or alternatively, the specific moment of action is a gravitational moment.

Optionally, the first obtaining module 151 is specifically configured to obtain the current output force/the current output torque if the closed-loop control system controls the robot/the robot moving component to move at a constant speed according to a set speed, or if the closed-loop control system controls the robot/the robot moving component to rotate at a constant speed according to a set rotation speed.

As shown in connection with fig. 17, the means for compensating for friction or friction torque further comprises a second obtaining module 155 and a calculating module 156. Wherein the second obtaining module 155 is configured to obtain a plurality of historical output forces/historical output torques output by the controller, and the calculating module 156 is configured to calculate an average of the plurality of historical output forces/historical output torques, or alternatively, calculate an average of the plurality of historical output forces/historical output torques and the current output force/current output torque. The estimation module 152 is specifically configured to compensate the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque when the average value is greater than or equal to the second set value.

As shown in fig. 18, the apparatus for compensating for friction or friction torque further includes a third obtaining module 157 and a first determining module 158, wherein the third obtaining module 157 is configured to obtain a setting parameter of the closed-loop control system if the average value is smaller than a second setting value; the first determination module 158 is configured to determine a set movement direction of the robot/moving part of the robot in case the set parameter represents the set movement speed, determine a positive direction of the set movement direction as a compensation direction of the current friction force/current friction torque; or determining the current friction force/current friction torque corresponding to the set movement speed; if the setting parameter indicates the set position, the current friction/friction torque corresponding to the set position is determined.

As shown in connection with fig. 19, the apparatus for compensating for friction or friction torque further comprises a fourth obtaining module 159 and a second determining module 160, wherein the fourth obtaining module 159 is configured to obtain an actual parameter of the closed-loop control system in case the average value is smaller than the second set value; the second determination module 160 is configured to determine a current movement direction of the robot/moving part of the robot in case the actual parameter represents the current movement speed, determine a forward direction of the current movement direction as a compensation direction of the current friction/friction torque; or determining the current friction force/current friction torque corresponding to the current movement speed; in the case that the actual parameter represents the current position, a current friction force/current friction torque corresponding to the current position is determined.

As shown in fig. 20, an apparatus for compensating for friction or friction torque provided by an embodiment of the present disclosure includes:

a processor (processor)201 and a memory (memory)202, and may further include a Communication Interface (Communication Interface)203 and a bus 204. The processor 201, the communication interface 203 and the memory 202 can communicate with each other through the bus 204. The communication interface 203 may be used for information transfer. The processor 201 may invoke logic instructions in the memory 202 to perform the methods for compensating for friction or friction torque provided by the foregoing embodiments.

Furthermore, the logic instructions in the memory 202 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.

The memory 202 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 201 executes the functional application and data processing by executing the software program, instructions and modules stored in the memory 202, that is, implements the method in the above-described method embodiments.

The memory 202 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 202 may include high speed random access memory and may also include non-volatile memory.

The embodiment of the disclosure provides a rehabilitation robot, which comprises the device for compensating friction force or friction torque provided by the embodiment.

Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the method for compensating friction or friction torque provided by the foregoing embodiments.

The disclosed embodiments provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method for compensating for friction or friction torque provided by the aforementioned embodiments.

The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method in the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, the terms "comprises" and/or "comprising," when used in this application, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method or device comprising the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.

Those of skill in the art would 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 may depend upon the particular application and design constraints imposed on the solution. 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 disclosed embodiments. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit may be merely a division of a logical function, and an actual implementation may have another division, 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. 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 implement the present embodiment. In addition, functional units in the embodiments of the present disclosure 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 flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Claims

1. A method for compensating for friction or friction torque, comprising:

obtaining the current output force/current output torque of a controller in a closed-loop control system;

compensating the previous friction force/friction torque according to the current output force/current output torque to obtain the current friction force/current friction torque;

compensating the current output force/current output torque according to the current friction force/current friction torque to obtain a force control value/torque control value;

and controlling the actuating mechanism according to the control value of the force/the control value of the moment.

2. The method of claim 1, wherein compensating for a previous friction/friction torque based on the current output force/current output torque to obtain a current friction/current friction torque comprises:

determining an iteration value according to the magnitude relation between the current output force/current output torque and a first set value;

and calculating the sum of the previous friction force/friction torque and the iteration value to obtain the current friction force/current friction torque.

3. The method of claim 2, wherein determining an iterative value based on a magnitude relationship of the current output force/current output torque to a first set point comprises:

determining the product of the current output force/current output torque and a first coefficient as the iteration value under the condition that the current output force/current output torque is larger than the first set value;

and determining a second coefficient as the iteration value when the current output force/current output torque is smaller than the first set value.

4. Method according to claim 1, wherein compensating the current output force/current output torque based on the current friction force/current friction torque, obtaining a control value of force/torque, comprises:

and calculating the sum of the current friction force/current friction torque, the current output force/current output torque and the specific acting force/specific acting torque to obtain a force control value/torque control value.

5. The method of any of claims 1 to 4, further comprising:

obtaining a plurality of historical output forces/historical output torques output by the controller;

calculating an average value of the plurality of historical output forces/historical output torques, or calculating an average value of the plurality of historical output forces/historical output torques and the current output force/current output torque;

6. The method of claim 5, further comprising:

and determining the current friction force/friction torque corresponding to the set position when the set parameter represents the set position.

7. The method of claim 5, further comprising:

in case the actual parameter represents a current position, determining the current friction/current friction torque corresponding to the current position.

8. A device for compensating friction or friction torque, comprising:

9. An apparatus for compensating friction or friction torque, comprising a processor and a memory storing program instructions, characterized in that the processor is configured to perform a method for compensating friction or friction torque according to any one of claims 1 to 8 when executing the program instructions.

10. A rehabilitation robot characterized by comprising the device for compensating friction or friction torque according to claim 9.