CN112684695A - Control system, method, equipment and storage medium for mechanical arm joint - Google Patents
Control system, method, equipment and storage medium for mechanical arm joint Download PDFInfo
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Abstract
The application discloses articulated control system of arm, include: an error calculation unit for determining a difference between the position set value and the first observation value; a PD control unit for performing PD control according to the difference and the second observation value and outputting a first compensation amount; the disturbance compensation unit is used for carrying out disturbance compensation on the first compensation quantity according to the third observation value and outputting a rotating speed instruction value; the linear extended state observer is used for outputting a first observation value, a second observation value and a third observation value according to the received rotating speed instruction value and the position feedback value; and the post-stage control unit is used for carrying out position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit. By the aid of the scheme, control effect on mechanical arm joints can be improved, and control rapidness and accuracy are guaranteed. The application also provides a control method and equipment of the mechanical arm joint and a storage medium, and the control method and equipment have corresponding technical effects.
Description
Technical Field
The present invention relates to the field of feedback control technologies, and in particular, to a system, a method, a device, and a storage medium for controlling a robot joint.
Background
The mechanical arm joint is mainly driven by a PMSM (Permanent Magnet Synchronous Motor), and the control performance of the PMSM directly determines the stability of mechanical arm control. Currently, in PMSM control, PID control is widely used, and a conventional PID control method uses a difference between a position command signal and a position feedback signal as a position error, and error feedback control is a linear combination of current (positional), past (Integral), and future (Differential) errors. PID control is very robust in most industrial control areas. However, in the control of the flexible mechanical arm, due to the requirement of rapidity and accuracy of the control, the traditional PID control cannot meet the requirement of modern industry on the working performance of the flexible mechanical arm.
In the conventional PID control, a classical feedback control method for eliminating an error based on an error is adopted, that is, an error e is obtained according to a control target set value v and a system controlled output y, and a control quantity u is obtained by linear combination of the error itself, an error differential signal and an error integral signal. In the PID control, an error differential signal is used, however, at the feedback end of the position sensor, there are always interference signals which are difficult to avoid and estimate, and the differential signal can amplify these random interferences, which affects the stability of the system.
The classical form of a differentiator can be expressed as:
where v (t) and y (t) are the input and output signals of the system, respectively, w(s) is the transfer function of the system, when random noise n (t) is superimposed on signal v (t),
it can be seen that the smaller τ is, the more serious the noise amplification condition of the system output is, and therefore, when the control of the mechanical arm joint is performed by using PID at present, a differential control link is not included due to the negative effect of D.
The integral link in the traditional PID control can play a role in inhibiting constant disturbance, but the integral link also has a plurality of side effects including slow response, oscillation generation, control quantity saturation and the like of a closed-loop system, and is more obvious in appearance under the condition that the control of the flexible mechanical arm requires rapidity and accuracy.
In summary, how to effectively control the joints of the mechanical arm and improve the control effect is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a control system, a method, equipment and a storage medium for a mechanical arm joint, so as to effectively control the mechanical arm joint and improve the control effect.
In order to solve the technical problems, the invention provides the following technical scheme:
a control system for a robot arm joint, comprising:
the error calculation unit is used for determining the difference value between the received position set value of the mechanical arm joint and the first observation value;
a PD control unit for performing PD control according to the difference value and the second observation value output by the error calculation unit and outputting a first compensation amount;
the disturbance compensation unit is used for carrying out disturbance compensation on the first compensation quantity according to a third observation value and outputting a rotating speed instruction value;
the linear extended state observer is used for outputting a first observation value representing the position feedback quantity after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance quantity according to the received rotating speed command value and the position feedback value;
and the post-stage control unit is used for carrying out position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit.
Preferably, the method further comprises the following steps:
and the track smoothing unit is used for outputting a corresponding position set value to the error calculation unit according to the received position command, and when the received position command has a step change, the position command with the step change is converted into a continuous curve, and then the corresponding position set value is output to the error calculation unit.
Preferably, the linear extended state observer is a third-order linear extended state observer, and the discretization form is expressed as:
wherein z is1，z2And z3Sequentially representing a first observation value, a second observation value and a third observation value output by the linear extended state observer, and e representing the first observation value z1Difference from position feedback value theta, omega0The bandwidth of the linear extended state observer is represented, h represents an integration step, b represents an input gain, u represents a rotation speed command value, and k represents time.
Preferably, the PD control unit is specifically represented as: u. of0(k+1)＝ωc 2*e1-2ωcz2(k)；
Wherein u is0Representing a first compensation quantity, ωcTo set control parameters, e1Indicating the position set value v and the first observed value z1And z is a difference of2(k)＝-e2，e2Indicating the position set value v and the first observed value z1The differential of the difference of (a).
Preferably, the disturbance compensation unit is specifically represented as: u (k +1) ═ u (u)0(k+1)-z3(k+1))/b。
A control method of a mechanical arm joint comprises the following steps:
the error calculation unit determines a difference value between the received position set value of the mechanical arm joint and the first observation value;
the PD control unit performs PD control according to the difference value output by the error calculation unit and the second observation value and outputs a first compensation amount;
the disturbance compensation unit carries out disturbance compensation on the first compensation quantity according to a third observation value and outputs a rotating speed instruction value;
the linear extended state observer outputs a first observation value representing the position feedback quantity after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance quantity according to the received rotating speed command value and the position feedback value;
and the post-stage control unit performs position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit.
Preferably, the method further comprises the following steps:
the track smoothing unit outputs a corresponding position set value to the error calculation unit according to the received position command, and when the received position command has a step change, the position command having the step change is converted into a continuous curve, and then the corresponding position set value is output to the error calculation unit.
Preferably, the linear extended state observer is a third-order linear extended state observer, and the discretization form is expressed as:
wherein z is1，z2And z3Sequentially representing a first observation value, a second observation value and a third observation value output by the linear extended state observer, and e representing the first observation value z1Difference from position feedback value theta, omega0The bandwidth of the linear extended state observer is represented, h represents an integration step, b represents an input gain, u represents a rotation speed command value, and k represents time.
A control apparatus of a robot arm joint, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the method of controlling a robot joint of any one of the above.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of controlling a robot joint according to any one of the preceding claims.
By applying the technical scheme provided by the embodiment of the invention, the control on the mechanical arm joint is realized based on the linear extended state observer, and the control effect is favorably improved. Specifically, the linear extended state observer can output a first observation value representing the position feedback amount after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance amount according to the received rotating speed command value and the position feedback value, and the PD control unit can perform PD control according to the difference value and the second observation value output by the error calculation unit and output a first compensation amount. And the disturbance compensation unit can perform disturbance compensation on the first compensation quantity according to the third observation value and output a rotating speed instruction value, so that the scheme of the application is favorable for effectively inhibiting the influence of various disturbances including constant disturbance and realizing active compensation on the disturbance. Meanwhile, the linear extended state observer outputs a first observation value representing the position feedback quantity after disturbance removal and a second observation value representing the position error change rate, so that the noise amplification effect is low, and the situation of serious noise amplification caused by the arrangement of the differential link can be avoided. To sum up, the application can actively suppress disturbance, avoids the side effect of an integral link, enables a differential link to play a role, and simultaneously has a very low noise amplification effect, thereby improving the control effect on the mechanical arm joint and effectively ensuring the rapidity and the accuracy of control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a control system of a robot arm joint according to the present invention;
FIG. 2 is a diagram illustrating a change in a position setting value according to an embodiment of the present invention;
FIG. 3a is a schematic illustration of a static error of a position ring according to an embodiment of the present invention;
FIG. 3b is a diagram illustrating a simulation result in conventional PID control;
FIG. 3c is a diagram illustrating simulation results according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a conventional subsequent control unit.
Detailed Description
The core of the invention is to provide a control system of the mechanical arm joint, which can actively inhibit disturbance, avoid the side effect of an integral link, enable a differential link to play a role, and simultaneously has very low noise amplification effect, thereby improving the control effect of the mechanical arm joint and effectively ensuring the rapidity and the accuracy of the control.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system of a robot joint according to the present invention, where the control system of the robot joint may include:
an error calculation unit 10, configured to determine a difference between the received position setting value of the mechanical arm joint and the first observation value;
a PD control unit 20 configured to perform PD control based on the difference value output by the error calculation unit 10 and the second observation value, and output a first compensation amount;
the disturbance compensation unit 30 is configured to perform disturbance compensation on the first compensation amount according to the third observation value, and output a rotation speed instruction value;
a linear extended state observer 40 for outputting a first observed value representing a position feedback amount after removal of disturbance, a second observed value representing a position error change rate, and a third observed value representing a disturbance amount, based on the received rotational speed command value and the position feedback value;
and the post-stage control unit 50 is used for carrying out position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit 30.
Specifically, in the scheme of the application, the upper computer may receive a position instruction input by a user, further extract a position setting value carried in the position instruction, and send the position setting value to the error calculation unit 10.
Further, the applicant considers that the position feedback of the motor of the mechanical arm joint is the output of a dynamic link, has certain inertia, and the change of the position feedback cannot jump. However, the position command input by the user may be jumped. If the error between them is directly used for feedback control, it means that the non-leapable position feedback is used to track the leapable position setting, which easily causes many problems. For example, in the conventional motor control, after the error of the position loop jumps, the position loop PID controller outputs a large speed set, thereby affecting the adjustment of the speed loop and the current loop, and easily causing the error report of the motor and even the runaway.
Therefore, the present application further provides a position-given transition process, so as to avoid oscillation of the system caused by a step-like position command, that is, in an embodiment of the present invention, the method may further include:
and a track smoothing unit, configured to output a corresponding position setting value to the error calculation unit 10 according to the received position command, and when the received position command has a step change, convert the position command having the step change into a continuous curve, and then output the corresponding position setting value to the error calculation unit 10.
It can be understood that, when the position command with the step change is converted into a continuous curve, the specific change rate of the curve can be set and adjusted according to actual needs, so that the position feedback can track the curve more accurately and quickly. For example, in fig. 2, the step position command from 0 to 10 is converted into a continuous S-shaped curve, i.e., the position set value output by the trajectory smoothing unit is continuously and smoothly changed until 10 is reached.
The track smoothing unit can be usually arranged in an upper computer, namely the function of the track smoothing unit can be realized by a track planning module of the upper computer, and in addition, in some occasions, the function of the track smoothing unit can also be realized by arranging a tracking differentiator in a control system of a mechanical arm joint.
The error calculation unit 10 may receive the difference between the set position of the joints of the arm and the first observed value sent by the linear extended state observer 40, and determine the difference, denoted as e1＝v-z1(k) The first observed value output by the linear extended state observer 40 represents the position feedback amount after the disturbance is removed, and the linear extended state observer 40 can give its differential signal, that is, the linear extended state observer 40 outputs the second observed value representing the position error change rate after the disturbance is removed, and therefore, the linear extended state observer 40 is advantageous to restore the position feedback value θ as soon as possible and makes the noise amplification effect of the subsequent differential element low. The third observed value representing the disturbance variable output from the linear extended state observer 40 is used for active disturbance suppression.
The form of the linear extended state observer 40 can be expressed as:
After discretization, a discretized version of the third order linear extended state observer 40 can be obtained, expressed as:
wherein z is1，z2And z3Sequentially represents the first observed value, the second observed value and the third observed value output by the linear extended state observer 40, and e represents the first observed value z1Difference from position feedback value theta, omega0The bandwidth of the linear extended state observer 40 is represented, h represents an integration step length, the value can be determined by the loop frequency and the sampling period, b represents an input gain, the total disturbance value, namely the variation range of the compensation component, u represents a rotating speed instruction value, and k represents the time.
The PD control unit 20 may perform PD control based on the difference value output by the error calculation unit 10 and the second observation value, and output the first compensation amount.
The PD control unit 20 enables the differentiation link to play a role, and the differentiation control has a prediction role, so that the dynamic characteristics in the system mediation process can be improved, and the elimination of the system error is accelerated. The method and the device effectively play a role in differential control and have a good effect on inhibiting the shaking problem of the mechanical arm in the operation process.
Moreover, the scheme of the application has no problems of control lag, oscillation, control quantity saturation and the like caused by an integral link, and simultaneously, the noise amplification effect of a differential link of the PD control unit 20 is low due to the existence of the linear extended state observer 40.
The specific parameters of the PD control unit 20 may be set and adjusted according to actual situations, and in an embodiment of the present invention, the PD control unit 20 may be specifically expressed as:
u0(k+1)＝ωc 2*e1-2ωcz2(k)；
wherein u is0The first compensation amount, i.e., the output value of the PD control unit 20, is a control amount before disturbance compensation. OmegacThe set control parameters need to be set and adjusted according to actual conditions. e.g. of the type1Indicating the position set value v and the first observed value z1A difference of (i.e. e)1＝v-z1(k) In that respect And z is2(k)＝-e2，e2Indicating the position set value v and the first observed value z1The differential of the difference of (a).
In an embodiment of the present invention, the disturbance compensation unit 30 can be specifically represented as: u (k +1) ═ u (u)0(k+1)-z3(k+1))/b。
The disturbance compensation unit 30 is used for performing disturbance compensation, which is beneficial to effectively suppressing the influence of various disturbances including constant disturbance, and implementing active compensation on the disturbance, and as can be seen from fig. 3a, fig. 3b and fig. 3c, fig. 3a is a schematic diagram of a static error of a position loop in a specific embodiment, it can be seen that the static error of the position loop is very small. Fig. 3b is a schematic diagram of a simulation result in the conventional PID control, and fig. 3c is a schematic diagram of a simulation result in a specific embodiment of the present application, where a given position command is 10rad, and a planned in-place time is 0.125s, it can be seen that, in the scheme of the present application, the position feedback of the joint motor of the robot arm can well realize tracking of the planned position command, so that vibration in the motor operation process can be effectively suppressed, a static error is extremely small, and a control process in which a motor position loop is not oscillated and is in place at one time is realized.
It should be noted that the specific structure of the back-stage control unit 50 can be set and adjusted according to the actual situation, for example, fig. 4 is a common back-stage controlThe schematic structure of the unit 50, the LADRC shown in fig. 4 includes the error calculation unit 10, the PD control unit 20, the disturbance compensation unit 30 and the linear extended state observer 40 of the present application, and the remaining part is the subsequent stage control unit 50, and in addition, n in fig. 4 is*I.e. the rotational speed command value u, Pos output by the disturbance compensation unit 30*And Pos represent the position set value v and the position feedback value θ, respectively.
By applying the technical scheme provided by the embodiment of the invention, the control on the mechanical arm joint is realized based on the linear extended state observer 40, and the control effect is favorably improved. Specifically, the linear extended state observer 40 may output a first observed value indicating the position feedback amount after the disturbance is removed, a second observed value indicating the rate of change of the position error, and a third observed value indicating the disturbance amount according to the received rotation speed command value and the position feedback value, and the PD control unit 20 may perform PD control according to the difference value and the second observed value output by the error calculation unit 10, and output a first compensation amount. The disturbance compensation unit 30 can perform disturbance compensation on the first compensation quantity according to the third observation value, and output a rotation speed instruction value, so that the scheme of the application is beneficial to effectively suppressing the influence of various disturbances including constant disturbance, and realizes active compensation on the disturbance. Meanwhile, the linear extended state observer 40 outputs a first observation value representing the position feedback quantity after disturbance removal and a second observation value representing the position error change rate, so that the noise amplification effect is very low, and the situation of serious noise amplification caused by the arrangement of the differential element can be avoided. To sum up, the application can actively suppress disturbance, avoids the side effect of an integral link, enables a differential link to play a role, and simultaneously has a very low noise amplification effect, thereby improving the control effect on the mechanical arm joint and effectively ensuring the rapidity and the accuracy of control.
Corresponding to the above system embodiments, the embodiments of the present invention further provide a method for controlling a robot arm joint, which can be referred to in correspondence with the above.
The control method of the mechanical arm joint can comprise the following steps:
the error calculation unit determines a difference value between the received position set value of the mechanical arm joint and the first observation value;
the PD control unit performs PD control according to the difference value output by the error calculation unit and the second observation value and outputs a first compensation quantity;
the disturbance compensation unit carries out disturbance compensation on the first compensation quantity according to the third observation value and outputs a rotating speed instruction value;
the linear extended state observer outputs a first observation value representing the position feedback quantity after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance quantity according to the received rotating speed command value and the position feedback value;
and the post-stage control unit performs position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit.
In an embodiment of the present invention, the method may further include:
the track smoothing unit outputs a corresponding position set value to the error calculation unit according to the received position command, and when the received position command has a step change, the position command having the step change is converted into a continuous curve, and then the corresponding position set value is output to the error calculation unit.
In one embodiment of the present invention, the linear extended state observer is a third-order linear extended state observer, and the discretization is expressed as:
wherein z is1，z2And z3Sequentially representing a first observation value, a second observation value and a third observation value output by the linear extended state observer, and e represents the first observation valueValue z1Difference from position feedback value theta, omega0The bandwidth of the linear extended state observer is represented, h represents an integration step, b represents an input gain, u represents a rotation speed command value, and k represents time.
In one embodiment of the present invention, the PD control unit is specifically represented as: u. of0(k+1)＝ωc 2*e1-2ωcz2(k)；
Wherein u is0Representing a first compensation quantity, ωcTo set control parameters, e1Indicating the position set value v and the first observed value z1And z is a difference of2(k)＝-e2，e2Indicating the position set value v and the first observed value z1The differential of the difference of (a).
In one embodiment of the present invention, the disturbance compensation unit is specifically represented as: u (k +1) ═ u (u)0(k+1)-z3(k+1))/b。
Corresponding to the above method and system embodiments, the present invention further provides a robot joint control apparatus and a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the robot joint control method in any of the above embodiments are implemented. A computer-readable storage medium as referred to herein may include Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The control apparatus of the robot arm joint may include:
a memory for storing a computer program;
a processor for executing a computer program to implement the steps of the control method of the robot joint in any of the above embodiments.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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 invention.
The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control system for a robot arm joint, comprising:
the error calculation unit is used for determining the difference value between the received position set value of the mechanical arm joint and the first observation value;
a PD control unit for performing PD control according to the difference value and the second observation value output by the error calculation unit and outputting a first compensation amount;
the disturbance compensation unit is used for carrying out disturbance compensation on the first compensation quantity according to a third observation value and outputting a rotating speed instruction value;
the linear extended state observer is used for outputting a first observation value representing the position feedback quantity after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance quantity according to the received rotating speed command value and the position feedback value;
and the post-stage control unit is used for carrying out position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit.
2. The control system for a robot arm joint according to claim 1, further comprising:
and the track smoothing unit is used for outputting a corresponding position set value to the error calculation unit according to the received position command, and when the received position command has a step change, the position command with the step change is converted into a continuous curve, and then the corresponding position set value is output to the error calculation unit.
3. The control system of a robot arm joint according to claim 1, wherein the linear extended state observer is a third order linear extended state observer, and the discretized form is represented as:
wherein z is1，z2And z3Sequentially representing a first observation value, a second observation value and a third observation value output by the linear extended state observer, and e representing the first observation value z1Difference from position feedback value theta, omega0Represents the bandwidth of the linear extended state observer, h represents the integration step, b represents the input gain, u represents the speed commandThe value k represents the time of day.
4. The control system of a robotic arm joint as claimed in claim 3, wherein the PD control unit is specifically represented as: u. of0(k+1)＝ωc 2*e1-2ωcz2(k)；
Wherein u is0Representing a first compensation quantity, ωcTo set control parameters, e1Indicating the position set value v and the first observed value z1And z is a difference of2(k)＝-e2，e2Indicating the position set value v and the first observed value z1The differential of the difference of (a).
5. A control system of a robot arm joint according to claim 3, wherein said disturbance compensation unit is specifically represented as: u (k +1) ═ u (u)0(k+1)-z3(k+1))/b。
6. A method for controlling a robot arm joint, comprising:
the error calculation unit determines a difference value between the received position set value of the mechanical arm joint and the first observation value;
the PD control unit performs PD control according to the difference value output by the error calculation unit and the second observation value and outputs a first compensation amount;
the disturbance compensation unit carries out disturbance compensation on the first compensation quantity according to a third observation value and outputs a rotating speed instruction value;
the linear extended state observer outputs a first observation value representing the position feedback quantity after disturbance removal, a second observation value representing the position error change rate and a third observation value representing the disturbance quantity according to the received rotating speed command value and the position feedback value;
and the post-stage control unit performs position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit.
7. The method of controlling a robot arm joint according to claim 6, further comprising:
the track smoothing unit outputs a corresponding position set value to the error calculation unit according to the received position command, and when the received position command has a step change, the position command having the step change is converted into a continuous curve, and then the corresponding position set value is output to the error calculation unit.
8. The method for controlling a robot arm joint according to claim 6, wherein the linear extended state observer is a third-order linear extended state observer, and the discretized form is represented as:
wherein z is1，z2And z3Sequentially representing a first observation value, a second observation value and a third observation value output by the linear extended state observer, and e representing the first observation value z1Difference from position feedback value theta, omega0The bandwidth of the linear extended state observer is represented, h represents an integration step, b represents an input gain, u represents a rotation speed command value, and k represents time.
9. A control apparatus of a robot joint, characterized by comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the method of controlling a robot arm joint according to any of claims 6 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method of controlling a robot arm joint according to any one of claims 6 to 8.
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